CN108548048A - Reducing automatic creeping marine riser internal detector - Google Patents
Reducing automatic creeping marine riser internal detector Download PDFInfo
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- CN108548048A CN108548048A CN201810679499.1A CN201810679499A CN108548048A CN 108548048 A CN108548048 A CN 108548048A CN 201810679499 A CN201810679499 A CN 201810679499A CN 108548048 A CN108548048 A CN 108548048A
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- 238000012546 transfer Methods 0.000 claims abstract description 124
- 238000001514 detection method Methods 0.000 claims abstract description 49
- 230000005291 magnetic effect Effects 0.000 claims abstract description 33
- 239000002184 metal Substances 0.000 claims abstract description 20
- 238000010276 construction Methods 0.000 claims abstract description 8
- 230000009193 crawling Effects 0.000 claims description 35
- 230000005540 biological transmission Effects 0.000 claims description 12
- 239000007787 solid Substances 0.000 claims description 4
- 238000012360 testing method Methods 0.000 abstract description 15
- 238000005516 engineering process Methods 0.000 abstract description 10
- 230000001737 promoting effect Effects 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 10
- 230000006870 function Effects 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 4
- 206010016256 fatigue Diseases 0.000 description 4
- 230000005294 ferromagnetic effect Effects 0.000 description 4
- 230000006735 deficit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005553 drilling Methods 0.000 description 3
- 238000013399 early diagnosis Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000009659 non-destructive testing Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 210000004907 gland Anatomy 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 238000002441 X-ray diffraction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000005399 magnetomechanical effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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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
- F16L55/30—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
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
- G01N27/83—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields
- G01N27/85—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields using magnetographic methods
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Electrochemistry (AREA)
- Physics & Mathematics (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Life Sciences & Earth Sciences (AREA)
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- General Health & Medical Sciences (AREA)
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- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The present invention is a kind of reducing automatic creeping marine riser internal detector, including main body supporting structure, main body supporting structure includes fixed support structure, path transfer structure is provided on fixed support structure, the driving structure for the adjustment that can radially stretch is connected in path transfer structure, driving structure include can with inside pipe wall to be detected against wheel construction of creeping, driving structure further includes the power unit that wheel construction of creeping can be driven to be moved along inside pipe wall to be detected；The detection structure of axial one end connection energy radial expansion of main body supporting structure, detection structure includes the metal magnetic memory sensor of multiple circumferentially spaced settings；Reducing automatic creeping marine riser internal detector further includes control unit, and control unit is electrically connected with main body supporting structure, driving structure and detection structure.The detector makes full use of magnetic memory detection technology, can reducing and setting driving device realize automatic creeping, ensure that testing result is accurate, it is stable, using reliable, conducive to promoting the use of.
Description
Technical field
The present invention relates to drilling technology field more particularly to a kind of reducing that can be carried out non-destructive testing to marine riser are automatic
It creeps marine riser internal detector.
Background technology
Offshore Drilling Riser is made of a supervisor, more auxiliary tubes and both ends bump joint substantially.Marine drilling every
Water pipe is easy to induce under the action of the complex loads such as ocean current load, wave, sea wind marine riser original scarce during military service
It falls into place and generates fatigue crack even fracture, cause serious environmental pollution and economic loss.
It the problem of in order to well solve marine riser fatigue failure, needs to find marine riser fatigue defect in time, prevents thing
Therefore occur.But conventional non-destructive testing technology means existing at present are in early diagnosis marine riser stress concentration exception and micro-crack
Aspect exists apparent insufficient.Such as：(1) ultrasonic detection technology needs good measured surface contact conditions to close ambient condition with lotus root；
(2) magnetic leakage detection technology needs detection probe and measured surface close contact and the additional magnetizing assembly of needs；(3) existing
In nondestructive stress measurement detection method, x-ray diffraction technology penetrates deep property, it is difficult to penetrate the big wall thickness of marine riser, magnetosonic transmitting, bar
Ke Haosen noises and magnetic survey stress mornitoring method are both needed to electromagnetic excitation condition (coil), and excitation coil and detection probe composite structure are inclined
Greatly, existing it was verified that, has there is detection macro in existing nondestructive testing technique (such as vortex, ultrasound, X-ray)
It is more effective to see defect, and for early fatigue defect it is incompetent for.
The present inventor relies on experience and the practice for being engaged in relevant industries for many years as a result, proposes a kind of reducing automatic creeping
Marine riser internal detector, to overcome the deficiencies of existing technologies.
Invention content
The purpose of the present invention is to provide a kind of reducing automatic creeping marine riser internal detectors, overcome and deposit in the prior art
Deficiency, which makes full use of magnetic memory detection technology, can reducing and setting driving device realize automatic creeping, ensure
Testing result is accurate, stable, using reliable, conducive to promoting the use of.
The object of the present invention is achieved like this, a kind of reducing automatic creeping marine riser internal detector, including main body branch
Support structure, the main body supporting structure include fixed support structure, and path transfer structure is provided on the fixed support structure, described
The driving structure for the adjustment that can radially stretch is connected in path transfer structure, the driving structure includes that can be supported with inside pipe wall to be detected
The wheel construction of creeping leaned on, the driving structure further include can drive described in creep the power that wheel construction moves along inside pipe wall to be detected
Unit；The detection structure of axial one end connection energy radial expansion of the main body supporting structure, the detection structure includes multiple
The metal magnetic memory sensor of circumferentially spaced setting；The reducing automatic creeping marine riser internal detector further includes control
Portion, the control unit are electrically connected with the main body supporting structure, the driving structure and the detection structure.
In the better embodiment of the present invention, the fixed support structure includes the of parallel interval setting in an axial direction
One fixes disk and the second fixation disk, and described first, which fixes disk and described second, fixes disk consolidating by multiple circumferentially spaced settings
Determine supporting rod to be fixedly connected, one end of the fixed supporting rod connects the detection structure.
In the better embodiment of the present invention, the path transfer structure includes path transfer main shaft, and the one of the path transfer main shaft
End is rotationally connected with described first and fixes on disk, and the other end rotation of the path transfer main shaft is worn by after the second fixation disk
It is connect with a path transfer motor, the path transfer motor can drive the path transfer main axis, the path transfer motor and the control unit
Electrical connection；The first threaded portion is set on path transfer main shaft between the first fixation disk and the second fixation disk, it is described
On first threaded portion axially spaced sliding sleeve be equipped with circumferentially fixed the first path transfer nut and the second path transfer nut, described first
Path transfer nut, the second path transfer nut and the path transfer main shaft constitute leadscrew-nut mechanism；The first path transfer nut is close
One end setting of the second path transfer nut can fix disk along the first connecting rod that the path transfer main shaft slides, and the first connecting rod is solid
It is circumferentially spaced on price fixing to be hinged with multiple first connecting rods, the fixed supporting rod is articulated in the middle part of each first connecting rod
On, the other end of each first connecting rod is connect with one end of the driving structure；The second path transfer nut is close to described
One end setting of one path transfer nut can fix disk along the second connecting rod that the path transfer main shaft slides, and the second connecting rod is fixed on disk
It is circumferentially spaced to be hinged with multiple second connecting rods, it is articulated in the middle part of each second connecting rod on the fixed supporting rod, each institute
The other end for stating second connecting rod is connect with the other end of the driving structure；The first connecting rod fixes disk and the second connecting rod
Contact is equipped with the path transfer spring being sheathed on the path transfer main shaft between fixed disk.
In the better embodiment of the present invention, it is fixedly installed between the first fixation disk and the second fixation disk
Be both provided on multiple circumferentially fixed bars, the first path transfer nut and the second path transfer nut can slide be arranged in it is each described
Card slot on circumferentially fixed bar.
In the better embodiment of the present invention, the other end of each first connecting rod and each second connecting rod it is another
One end is respectively provided with slotted hole.
In the better embodiment of the present invention, the driving structure includes multiple driving arms, the driving arm
The other end of upper interval the first strut of setting and the second strut, the other end of first strut and second strut can be adjusted
And can be fixedly connected in the path transfer structure, one end of the driving arm is hinged with active crawling wheel, the power list
Member can drive the active crawling wheel to rotate, and the other end of the driving arm, which is hinged with to synchronize with the active crawling wheel, to be turned
Dynamic driven crawling wheel.
In the better embodiment of the present invention, each driving arm includes two parallel and axially disposed peaces
Bar is filled, the both ends of two mounting rods are respectively set the first wheel carrier and the second wheel carrier, the master is hinged on first wheel carrier
Crawling wheel is moved, the driven crawling wheel is hinged on second wheel carrier；Motor mount is set on two mounting rods, it is described
Power unit includes the driving motor of creeping being electrically connected with the control unit, and the driving motor of creeping is fixedly installed on the electricity
In machine mounting base, the driving motor of creeping is connect by the first transmission belt with the active crawling wheel, the active crawling wheel
Pass through the second transmission band connection with the driven crawling wheel.
In the better embodiment of the present invention, one end of first strut can be slidably connected to the driving branch
On frame, the first driving structure mounting base is arranged in the other end of first strut, and the first driving structure mounting base can be adjusted
And can be fixedly connected in the path transfer structure, contact is set between the first driving structure mounting base and the driving arm
Set driving portion spring；One end of second strut can be slidably connected on the driving arm, second strut it is another
The second driving structure mounting base is arranged in one end, and the second driving structure mounting base can adjust and can be fixedly connected to the tune
On gauge structure, driving portion spring is arranged in contact between the second driving structure mounting base and the driving arm.
In the better embodiment of the present invention, the driving structure includes 3 driving arms, two neighboring institute
It is respectively 135 °, 135 ° and 90 ° to state the circumferential angle between driving arm.
In the better embodiment of the present invention, the detection structure includes being removedly connected in the fixed support
The detection support of structure one end, the detection support includes the first fixed plate of annular, with the first fixed plate parallel interval
Second fixed plate of annular is set, circumferentially spaced setting at the radially outer edge of first fixed plate and second fixed plate
The metallic magnetic is respectively set in each sensor mounting box in multiple sensor mounting boxs that can be bonded with inside pipe wall to be detected
Memory sensor, each telescoping sensor mounting box energy radial expansion.
In the better embodiment of the present invention, side setting of first fixed plate far from second fixed plate
The radially outer edge of first pressing plate, first pressing plate and first fixed plate is hinged the first mounting box connecting rod, first peace
Hinged between the other end of mounted box connecting rod and the sensor mounting box, second fixed plate is close to first fixed plate
The radially outer edge of the second pressing plate of side setting, second pressing plate and second fixed plate is hinged the second mounting box connecting rod, institute
State between the other end of the second mounting box connecting rod and the sensor mounting box hinged, the first mounting box connecting rod and described the
Side of the two mounting box connecting rods far from the sensor mounting box is connected by a tension spring.
In the better embodiment of the present invention, against setting edge between first fixed plate and second pressing plate
Circumferentially spaced sleeve, in first pressing plate, first fixed plate, second pressing plate and second fixed plate
Connection open-work is arranged in position corresponding with each sleeve.
From the above mentioned, reducing automatic creeping marine riser internal detector provided by the invention has the advantages that：
In reducing automatic creeping marine riser internal detector provided by the invention, detection structure is sensed using metal magnetic memory
Device, testing result is accurate, and the degree of impairment of marine riser is analyzed by analyzing the magnetic memory signal collected, effectively prevents water proof
The accident of pipe occurs；The path transfer structure being arranged in main body supporting structure can realize the radial adjustment of driving structure, realize reducing
The reducing function of automatic creeping marine riser internal detector is applicable in model to realize the Scanning Detction to the marine riser of different inner diameters
It encloses extensively, it is stable；Detection structure has the function of reducing, it can be achieved that the marine riser to outer diameter different wall thickness of the same race detects；Control
Electric control driving structure in portion's processed is creeped along water proof inside pipe wall, can be detected to any position in marine riser, easy to use and reliable.
Description of the drawings
The following drawings are only intended to schematically illustrate and explain the present invention, not delimit the scope of the invention.Wherein：
Fig. 1：For the stereoscopic schematic diagram of the reducing automatic creeping marine riser internal detector of the present invention.
Fig. 2：For the upward view of the reducing automatic creeping marine riser internal detector of the present invention.
Fig. 3：For the A-A sectional views in Fig. 2.
Fig. 4：For the schematic diagram of the main body supporting structure of the present invention.
Fig. 5：For the schematic diagram of the driving structure of the present invention.
Fig. 6：For the vertical view of the detection structure of the present invention.
Fig. 7：For the B-B sectional views in Fig. 6.
Fig. 8：For the reducing automatic creeping marine riser internal detector working state schematic representation of the present invention.
In figure：
100, reducing automatic creeping marine riser internal detector；
1, main body supporting structure；
11, fixed support structure；
111, first disk is fixed；112, second disk is fixed；113, fixed supporting rod；114, circumferentially fixed bar；
12, path transfer structure；
120, path transfer main shaft；121, the first path transfer nut；122, the second path transfer nut；123, first connecting rod fixes disk；
124, first connecting rod；1241, slotted hole；125, second connecting rod fixes disk；126, second connecting rod；127, path transfer spring；128, bullet
Spring gasket；129, rack sleeve；
13, path transfer motor；131, shaft coupling；132, third stage portion；
2, driving structure；
21, driving arm；
210, mounting rod；211, the first wheel carrier；212, the second wheel carrier；213, motor mount；2131, support plate；2132、
Bearing adjusting nut；214, strut sliding connecting base；215, branch stem nut；
221, the first strut；2211, the first driving structure mounting base；
222, the second strut；2221, the second driving structure mounting base；
223, driving portion spring；
23, active crawling wheel；231, drive sprocket axle；
24, driven crawling wheel；241, follower shaft；
25, it creeps driving motor；251, electrical machine belt pulley axis；
261, the first transmission belt；262, the second transmission belt；
3, detection structure；
30, metal magnetic memory sensor；
31, detection support；311, the first fixed plate；312, the second fixed plate；313, the first pressing plate；314, the second pressing plate；
315, sleeve；316, connection open-work；
32, sensor mounting box；
331, the first mounting box connecting rod；332, the second mounting box connecting rod；333, tension spring；
9, test tube to be checked.
Specific implementation mode
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control illustrates this hair
Bright specific implementation mode.
As shown in Fig. 1 to Fig. 8 the present invention provides a kind of reducing automatic creeping marine riser internal detector 100, including main body branch
Support structure 1, main body supporting structure 1 include fixed support structure 11, and path transfer structure 12, path transfer are provided on fixed support structure 11
The driving structure 2 for the adjustment that can radially stretch is connected in structure 12, driving structure 2 includes can be with test tube 9 (marine riser) to be checked
Inner wall against wheel construction of creeping, driving structure 2 further includes the power that wheel construction of creeping can be driven to be moved along 9 inner wall of test tube to be checked
Unit；Main body supporting structure 1 axial one end connection can radial expansion detection structure 3, detection structure 3 include it is multiple circumferentially
Spaced metal magnetic memory sensor；Reducing automatic creeping marine riser internal detector 100 further includes control unit, control unit
It is electrically connected with main body supporting structure 1, driving structure 2 and detection structure 3.
Metal magnetic memory sensor is based on magnetic memory detection technology, and ferromagnetic metal workpiece (such as marine riser) is due to fatigue
The micro-crack generated with creep stress concentration can occur in fault location, since there are magneto-mechanical effects for ferromagnetic metal workpiece, therefore
Distribution of Magnetic Field on its surface has certain correspondence with workpiece stress load, therefore can be by detecting ferromagnetic metal workpiece
The Distribution of Magnetic Field situation on surface indirectly diagnoses the defect and area of stress concentration of ferromagnetic metal workpiece, metal magnetic memory
Sensor has larger sensitivity, can penetrate the big wall thickness of marine riser, is realized to water proof by stress state analyzing
Pipe damage ground early diagnosis and prediction.
In reducing automatic creeping marine riser internal detector 100 provided by the invention, detection structure 3 uses metal magnetic memory
Sensor, testing result is accurate, and the degree of impairment of marine riser is analyzed by analyzing the magnetic memory signal collected, is effectively prevented
The accident of marine riser occurs；The path transfer structure 12 being arranged in main body supporting structure 1 can realize the radial adjustment of driving structure 2, real
The reducing function of existing reducing automatic creeping marine riser internal detector, to realize that the scanning to the marine riser of different inner diameters is examined
It surveys, it is applied widely, it is stable；Detection structure has the function of reducing, it can be achieved that water proof to outer diameter different wall thickness of the same race
Pipe detects；Control unit electric control driving structure 2 is creeped along water proof inside pipe wall, can be detected, be made to any position in marine riser
With convenient and reliable.
Further, as shown in Figure 3, Figure 4, fixed support structure 11 includes the first fixation disk of parallel interval setting in an axial direction
111 and second fix disk 112, and first fixes the fixed branch that disk 111 and second fixes disk 112 by multiple circumferentially spaced settings
Strut 113 is fixedly connected, and in the specific embodiment of the present invention, the quantity of fixed supporting rod 113 is 6；Fixed supporting rod
113 one end connects detection structure 3 above-mentioned.Driving structure 2 and detection structure 3 are fixedly connected on fixed support structure 11, it is real
Existing support function.
Further, as shown in Figure 3, Figure 4, path transfer structure 12 includes path transfer main shaft 120, and one end of path transfer main shaft 120 rotates
Be connected on the first fixation disk 111, the rotation of the other end of path transfer main shaft 120 wear by second fix after disk 112 with a path transfer
Motor 13 connects, and in the present embodiment, first fixes setting first bearing mounting hole at 111 center of disk, first bearing installation
First bearing is set in hole, and one end rotation of path transfer main shaft 120 is arranged in first bearing, and first fixes disk 111 far from second
The first gland to axial restraint first bearing is arranged in the side of fixed disk 112；Second fixes setting second at 112 center of disk
Bearing mounting hole, second bearing mounting hole is interior to be arranged second bearing, and the other end rotation of path transfer main shaft 120 is worn through the second axis
It holds, second fixes disk 112 fixes the side setting of disk 111 to the second gland of axial restraint second bearing far from first.
Path transfer motor 13 can drive path transfer main shaft 120 to rotate, and in the present embodiment, path transfer motor passes through shaft coupling 131
It is connect with path transfer main shaft 120, path transfer motor 13 is electrically connected with control unit；Positioned at first fix disk 111 and second fix disk 112 it
Between path transfer main shaft 120 on the first threaded portion is set, axially spaced sliding sleeve is equipped with circumferentially fixed the on the first threaded portion
One path transfer nut 121 and the second path transfer nut 122, the first path transfer nut 121, the second path transfer nut 122 and 120 structure of path transfer main shaft
At leadscrew-nut mechanism, the first path transfer nut 121, the second path transfer nut 122 convert the rotation of path transfer main shaft 120 to movement.
First path transfer nut 121 can be along the first of the sliding of path transfer main shaft 120 close to the setting of one end of the second path transfer nut 122
Linkage fixing plate 123, in the present embodiment, the first path transfer nut 121 connect first connecting rod by rack sleeve 129 and fix disk
123, first connecting rod fix disk 123 on it is circumferentially spaced be hinged with multiple first connecting rods 124, in the present embodiment, first connect
Bar 124 is articulated with first connecting rod by axis pin and fixes on disk 123；The middle part of each first connecting rod 124 is articulated with fixed supporting rod 113
On, the other end of each first connecting rod 124 is connect with one end of driving structure 2；Second path transfer nut 122 is close to the first path transfer nut
121 one end setting can fix disk 125, in the present embodiment, the second path transfer spiral shell along the second connecting rod that path transfer main shaft 120 slides
Mother 122 connects second connecting rod by rack sleeve 129 and fixes disk 125, and second connecting rod fixes circumferentially spaced on disk 125 be hinged with
Multiple second connecting rods 126, in the present embodiment, second connecting rod 126 are articulated with second connecting rod by axis pin and fix on disk 125；
The middle part of each second connecting rod 126 is articulated on fixed supporting rod 113, and the other end of each second connecting rod 126 is another with driving structure 2
One end connects；Contact, which is equipped with, between first connecting rod fixation disk 123 and second connecting rod fixation disk 125 is sheathed on path transfer main shaft 120
Path transfer spring 127, first connecting rod, which fixes disk 123 and second connecting rod and fixes disk 125 and exchange diameter spring 127, applies pretightning force, adjusts
Diameter spring 127 can be further ensured that the synchronizing moving that first connecting rod fixes disk 123 and second connecting rod fixes disk 125；In this hair
In a bright specific embodiment, 127 both ends of path transfer spring bear against setting spring shim 128.
In the present embodiment, as shown in figure 3, the other end of the other end of each first connecting rod 124 and each second connecting rod 126
It is respectively provided with slotted hole 1241, the position in slotted hole 1241 is fixed on by adjusting driving structure 2, driving structure 2 can be made
Radial position is adjusted, to the detection demand of the marine riser of satisfaction more multi-pipe-diameter.
In the specific embodiment of the present invention, the middle part setting diameter of path transfer main shaft 120 is in the First for increasing setting
Rank portion and second step portion, first connecting rod fix disk 123 and are resisted against first step portion close to the end face of second connecting rod fixation disk 125
When upper, first connecting rod 124 and 126 other end of second connecting rod are in maximum radial position；Second connecting rod fixes disk 125 close to first
When the end face of linkage fixing plate 123 is resisted against in second step portion, first connecting rod 124 and 126 other end of second connecting rod are in most
Small radial position.
In the present embodiment, as shown in figure 4, being fixedly installed between the first fixation fixation disk 112 of disk 111 and second multiple
Being both provided on circumferentially fixed bar 114, the first path transfer nut 121 and the second path transfer nut 122 can slide that be arranged in each circumferential direction solid
Card slot in fixed pole 114.
The detailed process that control unit controls 12 progress 2 radial position of the driving structure adjustment of path transfer structure is as follows：Control unit control
The main axis of path transfer motor 13 processed, the torque that path transfer motor 13 exports pass to path transfer main shaft 120, path transfer through shaft coupling 131
120 axial restraint of main shaft and can be around axial rotation, the first path transfer nut 121 and the second path transfer nut 122 by path transfer main shaft 120
It is converted into movement.First path transfer nut 121 and the movement of the second path transfer nut 122, can change the company of first connecting rod 124 and second
The angle axial with path transfer main shaft 120 of bar 126, the radial position of 126 other end of first connecting rod 124 and second connecting rod are adjusted
It is whole, and then drive 2 radial position of driving structure adjustment so that reducing automatic creeping marine riser internal detector 100 can be applied
In in the marine riser of more multi-pipe-diameter.
Further, as shown in figs. 3 and 5, driving structure 2 includes multiple driving arms 21, in the present embodiment, driving
Structure includes 3 driving arms 21, and the circumferential angle between two neighboring driving arm 21 is respectively 135 °, 135 ° and 90 °.
In use, two driving arms 21 that angle is 90 ° are placed downward, examined with preferably undertaking in reducing automatic creeping marine riser
The weight for surveying device 100, coordinates another driving arm 21 that can ensure 100 axis of reducing automatic creeping marine riser internal detector
Line is overlapped with test tube 9 (marine riser) axis to be checked.Interval the first strut 221 of setting and the second strut 222 on driving arm 21, the
The other end of the other end of one strut 221 and the second strut 222 can be adjusted and can be fixedly connected in path transfer structure 12, driving
One end of holder 21 is hinged with active crawling wheel 23, and power unit can drive active crawling wheel 23 to rotate, driving arm 21 it is another
One end is hinged with the driven crawling wheel 24 that can be rotated synchronously with active crawling wheel 23.
Further, as shown in figs. 3 and 5, each driving arm 21 includes two parallel and axially disposed mounting rods 210,
The first wheel carrier 211 and the second wheel carrier 212 is respectively set in the both ends of two mounting rods 210, in the specific embodiment of the present invention,
Mounting rod 210 is threadingly attached on the first wheel carrier 211 and the second wheel carrier 212；Hinged active crawling wheel on first wheel carrier 211
23, hinged driven crawling wheel 24 on the second wheel carrier 212；Motor mount 213 is set on two mounting rods 210, the present invention's
In one specific embodiment, mounting rod 210 wears through motor mount 213 and is connected through a screw thread with it, pacifies for convenience of motor
The position adjustment of seat 213 is filled, support plate 2131 is arranged in the side of motor mount 213, and support plate 2131 is far from motor mount
213 side setting bearing adjusting nut 2132.
Power unit includes the driving motor 25 of creeping being electrically connected with control unit, and driving motor 25 of creeping is fixedly installed on electricity
In machine mounting base 213, driving motor 25 of creeping is connect by the first transmission belt 261 with active crawling wheel 23, active crawling wheel 23
It is connected by the second transmission belt 262 with driven crawling wheel 24.In the present embodiment, creep driving motor 25 output end setting
Electrical machine belt pulley axis 251, active crawling wheel 23 are articulated with by drive sprocket axle 231 on the first wheel carrier 211, and the two of drive sprocket axle 231
End protrudes from the setting of active crawling wheel 23 respectively, and the first transmission belt 261 is sheathed on electrical machine belt pulley axis 251 and drive sprocket axle 231
On one end；Driven crawling wheel 24 is articulated with by follower shaft 241 on the second wheel carrier 212, and one end of follower shaft 241 protrudes from
Follower shaft 241 is arranged, and the second transmission belt 262 is sheathed on one end of follower shaft 241 and the other end of drive sprocket axle 231.
When needing to crawl mobile, start driving motor 25 of creeping, electrical machine belt pulley axis 251 rotates and passes through 261 band of the first transmission belt
Dynamic drive sprocket axle 231 and active crawling wheel 23 rotate, and the other end of drive sprocket axle 231 is driven driven by the second transmission belt 262
Wheel shaft 241 and driven crawling wheel 24 rotate, and crawling process is reliable and stable.
Further, as shown in figs. 3 and 5, one end of the first strut 221 can be slidably connected on driving arm 21, and first
The first driving structure mounting base 2211 is arranged in the other end of strut 221, and the first driving structure mounting base 2211 can adjust and can be solid
Surely it is connected in path transfer structure 12, driving portion bullet is arranged in contact between the first driving structure mounting base 2211 and driving arm 21
Spring 223, in the present embodiment, one end setting strut sliding connecting base 214 of driving arm 21, one end of the first strut 221
Sliding is worn through strut sliding connecting base 214, and the first strut 221 passes through one end of strut sliding connecting base 214 to be arranged branch
Stem nut 215 avoids the first strut 221 from falling off from driving arm 21；One end of second strut 222 is slidably connected to driving
On holder 21, the second driving structure mounting base 2221, the second driving structure mounting base 2221 is arranged in the other end of the second strut 222
It can adjust and can be fixedly connected in path transfer structure 12, contact between the second driving structure mounting base 2221 and driving arm 21
Driving portion spring 223 is set, in the present embodiment, the other end setting strut sliding connecting base 214 of driving arm 21, second
One end sliding of strut 222 is worn through strut sliding connecting base 214, and the second strut 222 passes through strut sliding connecting base 214
One end be arranged branch stem nut 215, avoid the second strut 222 from falling off from driving arm 21.First driving structure mounting base
2211, the second driving structure mounting base 2221 is fork configuration, the first driving structure mounting base 2211, the installation of the second driving structure
Axis pin via is set on seat 2221, and the first driving structure mounting base 2211 can pitch the other end set on first connecting rod 124, pass through inspection
Survey demand adjusts link position of the first driving structure mounting base 2211 on slotted hole 1241, and connecting pin is passed through axis pin via
The connection of the first strut 221 and first connecting rod 124 is realized with slotted hole 1241；The connection of second strut 222 and second connecting rod 126
Mode is the same as aforementioned.Under the cooperation of driving portion spring 223, driving structure 2 is remained supports with test tube 9 (marine riser) inner wall to be checked
It leans on, and can ensure that 100 axis of reducing automatic creeping marine riser internal detector is overlapped with test tube 9 (marine riser) axis to be checked.
Further, shown in as shown in Figure 1, Figure 2, Fig. 3, Fig. 6, Fig. 7, detection structure 3 includes being removedly connected to support in fixed
The detection support 31 of 11 one end of structure, detection support 31 includes the first fixed plate 311 of annular, parallel with the first fixed plate 311
Second fixed plate 312 of interval setting annular, at the radially outer edge of the first fixed plate 311 and the second fixed plate 312 circumferentially between
Every multiple sensor mounting boxs 32 that can be bonded with inside pipe wall to be detected are arranged, metal is respectively set in each sensor mounting box 32
Magnetic Memory sensor 30, each sensor mounting box 32 can radial expansions.In the present embodiment, detection structure 3 includes 32 biographies
Sensor mounting box 32, each sensor mounting box 32 is interior to install 2 metal magnetic memory sensors 30, may be implemented to treat detection pipe
The all standing surface sweeping of 9 (marine riser) inner walls ensures that testing result is accurately reliable.32 energy radial expansion of each sensor mounting box, inspection
Geodesic structure 3 has the function of reducing, it can be achieved that the marine riser to outer diameter different wall thickness of the same race detects.
Further, as shown in Figure 6, Figure 7, the first pressing plate is arranged in side of first fixed plate 311 far from the second fixed plate 312
313, the two is realized by bolt and is connected, and the radially outer edge of the first pressing plate 313 and the first fixed plate 311 is hinged the first mounting box company
Bar 331, hinged between the other end and sensor mounting box 32 of the first mounting box connecting rod 331, the second fixed plate 312 is close to first
The second pressing plate 314 is arranged in the side of fixed plate 311, and the two is realized by bolt and connected, the second pressing plate 314 and the second fixed plate
312 radially outer edge is hinged the second mounting box connecting rod 332, the other end and the sensor mounting box 32 of the second mounting box connecting rod 332
Between it is hinged, the first mounting box connecting rod 331 and the second side of the mounting box connecting rod 332 far from sensor mounting box 32 pass through one and draw
Spring 333 connects.First mounting box connecting rod 331, sensor mounting box 32, the second mounting box connecting rod 332 and tension spring 333 constitute four bars
Each angle of mechanism, four-bar mechanism can adjust, to realize the radial position adjustment of sensor mounting box 32, the four-bar mechanism
It can ensure that each sensor mounting box 32 is bonded test tube 9 (marine riser) inner wall to be checked always in detection process.In this embodiment party
In formula, the first pressing plate 313, the first fixed plate 311, the second pressing plate 314 and the second fixed plate 312 are cyclic structure, path transfer electricity
Machine 13 and shaft coupling 131 pass through the interior of the first pressing plate 313, the first fixed plate 311, the second pressing plate 314 and the second fixed plate 312
Diameter is arranged in order to keep structure connection even closer, on the outer wall of path transfer motor 13 in the third stage portion for increasing setting for hole
132, third stage portion 132 is resisted against on the end face of the first fixed plate 311.
Further, as shown in Figure 6, Figure 7, circumferentially spaced against being arranged between the first fixed plate 311 and the second pressing plate 314
The sleeve 315 of setting, in the present embodiment, the quantity of sleeve 315 is 6；First pressing plate 313, the first fixed plate 311,
Connection open-work 316 is arranged in position corresponding with each sleeve 315 on two pressing plates 314 and the second fixed plate 312.Each connection open-work
316,315 fixing sleeve of each sleeve is set on fixed supporting rod 113, realizes the connection of detection support 31 and fixed support structure 11.
Further, control unit is passed by way of remote control with path transfer motor 13, creep driving motor 25 and metal magnetic memory
Sensor 30 is connected by electric signal, and control unit includes control unit and data acquisition unit, and data acquisition unit is acquired and recorded
The magnetic memory signal (the Distribution of Magnetic Field situation of water proof inside pipe wall) that each metal magnetic memory sensor 30 returns, and to collected magnetic
Memory signal carries out the stress concentration situation that analyzing processing obtains marine riser；Control unit controls the start and stop of path transfer motor 13, complete
At the radial direction adjustment of driving structure 2, control unit controls the start and stop for driving motor 25 of creeping, and realizes that creeping for driving structure 2 is dynamic
It controls.
When carrying out marine riser damage check using the reducing automatic creeping marine riser internal detector 100 of the present invention, first
According to the internal diameter of test tube 9 (marine riser) to be checked, the radial dimension of driving structure 2 is adjusted by path transfer structure 12, is closed after adjustment
Path transfer motor 13；Then, the feeding of reducing automatic creeping marine riser internal detector 100 is waited for by lifting equipment (prior art)
Detection pipe 9 (marine riser) is internal, opens driving motor 25 of creeping by control unit remote control, makes in reducing automatic creeping marine riser
Detector 100 is creeped along test tube 9 (marine riser) inner wall to be checked, and at the same time, the data acquisition unit of control unit is acquired and recorded
The magnetic memory signal (the Distribution of Magnetic Field situation of water proof inside pipe wall) that each metal magnetic memory sensor 30 returns, and to collected magnetic
Memory signal carries out the stress concentration situation that analyzing processing obtains marine riser, and passes through the analysis realization pair to stress concentration status
The early diagnosis and prediction of marine riser damage, occur with avoiding serious accident.
From the above mentioned, reducing automatic creeping marine riser internal detector provided by the invention has the advantages that：
In reducing automatic creeping marine riser internal detector provided by the invention, detection structure is sensed using metal magnetic memory
Device, testing result is accurate, and the degree of impairment of marine riser is analyzed by analyzing the magnetic memory signal collected, effectively prevents water proof
The accident of pipe occurs；The path transfer structure being arranged in main body supporting structure can realize the radial adjustment of driving structure, realize reducing
The reducing function of automatic creeping marine riser internal detector is applicable in model to realize the Scanning Detction to the marine riser of different inner diameters
It encloses extensively, it is stable；Detection structure has the function of reducing, it can be achieved that the marine riser to outer diameter different wall thickness of the same race detects；Control
Electric control driving structure in portion's processed is creeped along water proof inside pipe wall, can be detected to any position in marine riser, easy to use and reliable.
The foregoing is merely the schematical specific implementation modes of the present invention, are not limited to the scope of the present invention.It is any
Those skilled in the art, made equivalent variations and modification under the premise of not departing from design and the principle of the present invention,
The scope of protection of the invention should be belonged to.
Claims (12)
1. a kind of reducing automatic creeping marine riser internal detector, which is characterized in that including main body supporting structure, the main body branch
Support structure includes fixed support structure, and path transfer structure is provided on the fixed support structure, is connected in the path transfer structure
Can radially stretch adjustment driving structure, the driving structure include can with inside pipe wall to be detected against wheel construction of creeping,
The driving structure further include can drive described in creep the power unit that wheel construction moves along inside pipe wall to be detected；The main body branch
The detection structure of axial one end connection energy radial expansion of support structure, the detection structure includes multiple circumferentially spaced settings
Metal magnetic memory sensor；The reducing automatic creeping marine riser internal detector further includes control unit, the control unit and institute
State main body supporting structure, the driving structure and detection structure electrical connection.
2. reducing automatic creeping marine riser internal detector as described in claim 1, which is characterized in that the fixed support knot
Structure includes the first fixation disk of parallel interval setting in an axial direction and second fixes disk, and described first, which fixes disk and described second, fixes
Disk is fixedly connected by the fixation supporting rod of multiple circumferentially spaced settings, and one end of the fixed supporting rod connects the detection
Structure.
3. reducing automatic creeping marine riser internal detector as claimed in claim 2, which is characterized in that the path transfer structure packet
Path transfer main shaft is included, one end of the path transfer main shaft is rotationally connected with described first and fixes on disk, the other end of the path transfer main shaft
Rotation wears to fix after disk by described second and be connect with a path transfer motor, and the path transfer motor can drive the path transfer main shaft to turn
Dynamic, the path transfer motor is electrically connected with the control unit；The tune between disk and the second fixation disk is fixed positioned at described first
First threaded portion is set on diameter main shaft, and axially spaced sliding sleeve is equipped with the first circumferentially fixed path transfer on first threaded portion
Nut and the second path transfer nut, the first path transfer nut, the second path transfer nut and the path transfer main shaft constitute leading screw spiral shell
Parent agency；The first path transfer nut can be slided along the path transfer main shaft close to the setting of one end of the second path transfer nut the
One linkage fixing plate, the first connecting rod, which is fixed, circumferentially spaced on disk is hinged with multiple first connecting rods, each first connecting rod
Middle part be articulated on the fixed supporting rod, the other end of each first connecting rod is connect with one end of the driving structure；
The second connecting rod that the second path transfer nut can be slided close to the setting of one end of the first path transfer nut along the path transfer main shaft
Fixed disk, the second connecting rod, which is fixed, circumferentially spaced on disk is hinged with multiple second connecting rods, the middle part of each second connecting rod
It is articulated on the fixed supporting rod, the other end of each second connecting rod is connect with the other end of the driving structure；It is described
First connecting rod fixes contact between disk and second connecting rod fixation disk and is equipped with the path transfer spring being sheathed on the path transfer main shaft.
4. reducing automatic creeping marine riser internal detector as claimed in claim 3, which is characterized in that described first fixes disk
Multiple circumferentially fixed bars, the first path transfer nut and the second path transfer nut is fixedly installed between the second fixation disk
On be both provided with the card slot that can be slided and be arranged on each circumferentially fixed bar.
5. reducing automatic creeping marine riser internal detector as claimed in claim 3, which is characterized in that each first connecting rod
The other end and the other end of each second connecting rod be respectively provided with slotted hole.
6. reducing automatic creeping marine riser internal detector as described in claim 1, which is characterized in that the driving structure packet
Multiple driving arms are included, the first strut and the second strut, the other end of first strut is arranged in interval on the driving arm
It can adjust and can be fixedly connected in the path transfer structure, one end of the driving arm with the other end of second strut
It is hinged with active crawling wheel, the power unit can drive the active crawling wheel to rotate, the other end hinge of the driving arm
It is connected to the driven crawling wheel that can be rotated synchronously with the active crawling wheel.
7. reducing automatic creeping marine riser internal detector as claimed in claim 6, which is characterized in that each driving arm
Including two parallel and axially disposed mounting rods, the first wheel carrier and the second wheel is respectively set in the both ends of two mounting rods
Frame, the hinged active crawling wheel on first wheel carrier, the hinged driven crawling wheel on second wheel carrier；Described in two
Motor mount is set on mounting rod, and the power unit includes the driving motor of creeping being electrically connected with the control unit, described
Driving motor of creeping is fixedly installed on the motor mount, and the driving motor of creeping passes through the first transmission belt and the master
Dynamic crawling wheel connection, the active crawling wheel and the driven crawling wheel pass through the second transmission band connection.
8. reducing automatic creeping marine riser internal detector as claimed in claim 6, which is characterized in that first strut
One end can be slidably connected on the driving arm, and the first driving structure mounting base is arranged in the other end of first strut,
The first driving structure mounting base can be adjusted and can be fixedly connected in the path transfer structure, the first driving structure peace
It fills contact between seat and the driving arm and driving portion spring is set；One end of second strut can be slidably connected to described
On driving arm, the second driving structure mounting base, the second driving structure mounting base is arranged in the other end of second strut
It can adjust and can be fixedly connected in the path transfer structure, between the second driving structure mounting base and the driving arm
Driving portion spring is arranged in contact.
9. reducing automatic creeping marine riser internal detector as claimed in claim 6, which is characterized in that the driving structure packet
3 driving arms are included, the circumferential angle between the two neighboring driving arm is respectively 135 °, 135 ° and 90 °.
10. reducing automatic creeping marine riser internal detector as described in claim 1, which is characterized in that the detection structure
Including being removedly connected in the detection support of described fixed support structure one end, the detection support includes the first solid of annular
Fixed board, the second fixed plate with the first fixed plate parallel interval setting annular, first fixed plate and described second are consolidated
The circumferentially spaced multiple sensor mounting boxs that can be bonded with inside pipe wall to be detected of setting, each biography at the radially outer edge of fixed board
The metal magnetic memory sensor, each telescoping sensor mounting box energy radial expansion are respectively set in sensor mounting box.
11. reducing automatic creeping marine riser internal detector as claimed in claim 10, which is characterized in that described first fixes
The first pressing plate, the radially outer edge of first pressing plate and first fixed plate is arranged in side of the plate far from second fixed plate
Hinged first mounting box connecting rod, it is hinged between the other end of the first mounting box connecting rod and the sensor mounting box, it is described
The second pressing plate is arranged close to the side of first fixed plate in second fixed plate, second pressing plate and second fixed plate
Radially outer edge is hinged the second mounting box connecting rod, is cut with scissors between the other end of the second mounting box connecting rod and the sensor mounting box
It connects, the side of the first mounting box connecting rod and the second mounting box connecting rod far from the sensor mounting box passes through a tension spring
Connection.
12. reducing automatic creeping marine riser internal detector as claimed in claim 11, which is characterized in that described first fixes
Against the sleeve that circumferentially spaced setting is arranged between plate and second pressing plate, first pressing plate, first fixed plate,
Connection open-work is arranged in position corresponding with each sleeve on second pressing plate and second fixed plate.
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| CN201810679499.1A CN108548048B (en) | 2018-06-27 | 2018-06-27 | Variable-diameter automatic crawling marine riser inner detector |
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|---|---|---|---|
| CN201810679499.1A CN108548048B (en) | 2018-06-27 | 2018-06-27 | Variable-diameter automatic crawling marine riser inner detector |
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| CN108548048A true CN108548048A (en) | 2018-09-18 |
| CN108548048B CN108548048B (en) | 2024-05-14 |
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| CN110346446A (en) * | 2019-07-31 | 2019-10-18 | 中国石油大学(北京) | Non-destructive testing device |
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| CN112747701A (en) * | 2020-12-31 | 2021-05-04 | 中油国家油气钻井装备工程技术研究中心有限公司 | Self-propelled wall thickness measuring and recording device |
| CN113738997A (en) * | 2021-08-19 | 2021-12-03 | 苏州热工研究院有限公司 | Crawling device suitable for pipeline inner wall anti-corrosion operation robot |
| CN113738995A (en) * | 2021-08-19 | 2021-12-03 | 苏州热工研究院有限公司 | Robot for corrosion prevention of inner wall of pipeline |
| CN113738996A (en) * | 2021-08-19 | 2021-12-03 | 苏州热工研究院有限公司 | Flexible shaft suitable for pipeline inner wall anticorrosion operation robot and pipeline inner wall anticorrosion operation robot |
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| CN108907838A (en) * | 2018-10-12 | 2018-11-30 | 西南石油大学 | A kind of Thin-wall Revolving Part Self adapting fixture |
| CN109557173B (en) * | 2019-01-17 | 2023-12-22 | 中国石油大学(北京) | Nondestructive testing device |
| CN109557173A (en) * | 2019-01-17 | 2019-04-02 | 中国石油大学(北京) | Non-destructive testing device |
| CN110018227A (en) * | 2019-04-24 | 2019-07-16 | 中国石油大学(北京) | Water proof tube detection device |
| CN110346446A (en) * | 2019-07-31 | 2019-10-18 | 中国石油大学(北京) | Non-destructive testing device |
| CN110346446B (en) * | 2019-07-31 | 2024-05-10 | 中国石油大学(北京) | Nondestructive testing device |
| CN111706743A (en) * | 2020-06-09 | 2020-09-25 | 东北石油大学 | Magnetic memory detection robot for buried pipeline |
| CN112747701A (en) * | 2020-12-31 | 2021-05-04 | 中油国家油气钻井装备工程技术研究中心有限公司 | Self-propelled wall thickness measuring and recording device |
| CN113738997A (en) * | 2021-08-19 | 2021-12-03 | 苏州热工研究院有限公司 | Crawling device suitable for pipeline inner wall anti-corrosion operation robot |
| CN113738996B (en) * | 2021-08-19 | 2023-09-01 | 苏州热工研究院有限公司 | Flexible shaft suitable for pipeline inner wall anti-corrosion operation robot and pipeline inner wall anti-corrosion operation robot |
| CN113738997B (en) * | 2021-08-19 | 2023-09-01 | 苏州热工研究院有限公司 | Crawling device suitable for pipeline inner wall anti-corrosion operation robot |
| CN113738995B (en) * | 2021-08-19 | 2023-09-01 | 苏州热工研究院有限公司 | Robot for pipeline inner wall corrosion prevention operation |
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| CN113738995A (en) * | 2021-08-19 | 2021-12-03 | 苏州热工研究院有限公司 | Robot for corrosion prevention of inner wall of pipeline |
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