CN101285797B - Pipeline weld joint automatized ultrasound flaw detection device - Google Patents

Pipeline weld joint automatized ultrasound flaw detection device Download PDF

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Publication number
CN101285797B
CN101285797B CN2008100644380A CN200810064438A CN101285797B CN 101285797 B CN101285797 B CN 101285797B CN 2008100644380 A CN2008100644380 A CN 2008100644380A CN 200810064438 A CN200810064438 A CN 200810064438A CN 101285797 B CN101285797 B CN 101285797B
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China
Prior art keywords
base plate
shaped base
couplant
fixed
engaged wheel
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CN2008100644380A
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Chinese (zh)
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CN101285797A (en
Inventor
姜锡肇
王立权
赵冬岩
陈东良
马保家
曹先伟
张岚
李明
尤卫宏
杨双羊
Original Assignee
哈尔滨工程大学
海洋石油工程股份有限公司
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Priority to CN2008100644380A priority Critical patent/CN101285797B/en
Publication of CN101285797A publication Critical patent/CN101285797A/en
Application granted granted Critical
Publication of CN101285797B publication Critical patent/CN101285797B/en

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Abstract

The invention provides an automatic ultrasonic flaw detection device for pipeline welding joints, which consists of an elastic rail assembly, a carrier trolley, a probe scanning assembly and a labeling mechanism, wherein, the carrier trolley is arranged on the elastic rail assembly, the probe scanning assembly is fixed on the carrier trolley through an elastic plate, and the labeling mechanism is fixed on the elastic plate. The device has the detection technology efficiency greatly higher than that of manual ultrasonic detection in the nondestructive detection of circumferential welding joints of pipelines, has apparent advantages of quick detection speed, environmental radiation pollution reduction, labor intensity reduction and so on, effectively reduces the misjudgment of defects, can ensure that a flaw detection image is visualized, can make real-time located, quantificational and qualitative display of the defects, inevitably hold the main advantage in the nondestructive detection of marine petroleum engineering, and have good development prospect.

Description

Pipeline weld joint automatized ultrasound flaw detection device

(1) technical field

What the present invention relates to is a kind of reflectoscope, is specifically related to a kind of reflectoscope of pipe welding seam.

(2) background technology

Domestic widely used method of detection at present still is manual flaw detection, its operating procedure is quite complicated, need use the ultrasonic probe of different angles according to the shape of weld seam, and continuous shift position, to guarantee the incident angle and the position of supersonic beam, judge the character of weld defect at last according to echo waveform, its labour intensity is big, detection efficiency is low, needs to rely on operator's experience under a lot of situations, is easy to cause fail to judge and judge by accident.Some multi channel ultrasonic flaw detector devices have appearred in recent years, utilize the multi channel ultrasonic flaw detector device can realize that many acoustic beams detect a flaw simultaneously, but because of angular adjustment underaction (still need change the probe model), the position is moved also inconvenient, be difficult for realizing robotization, so still can not satisfy the requirement of seam inspection in enormous quantities.

Existing pipeline inspection device is that pipe interior is detected a flaw mostly, and pipeline external surface is being carried out in the device of ultrasonic inspection, its apparatus structure complexity, and can not well locate, detection accuracy is low, is difficult for realizing full-automatic.

(3) summary of the invention

The object of the present invention is to provide a kind of technology that can simplify the operation, reduce labour intensity, improve detection efficiency, the detection accuracy height, easily realize the pipeline weld joint automatized ultrasound flaw detection device of robotization.

The object of the present invention is achieved like this:

The present invention is made up of elastic track assembly, carrier dolly, scanning probe assembly and mark mechanism; The carrier dolly is installed on the elastic track assembly, and the scanning probe assembly is fixed on the carrier dolly by elastic plate, and mark mechanism is fixed on the elastic plate.

The present invention can also comprise:

1, described elastic track assembly is made up of elastic track and housing screw 2; Housing screw 2 is along circumferentially evenly being installed on the elastic track.

2, described carrier dolly is made up of engaged wheel 3, engaged wheel closing device 4, motor case 5, shaft coupling 6, drive wheel assemblies 7, I-shaped base plate 8, total connecting pipe 9, alarm lamp 10, control box 11 and connecting link 21; Control box 11 places on the upper surface of I-shaped base plate 8 and with control box 11 and is made as one, drive wheel assemblies 7 is installed in the bottom of I-shaped base plate 8, motor case 5 is fixed on the lower surface of I-shaped base plate 8 and the electric machine main shaft in it is connected with the driving wheel 7-1 of drive wheel assemblies 7 by shaft coupling 6, two engaged wheels 3 are fixedly mounted on the right side of I-shaped base plate 8 by connecting link 21, two other engaged wheel 3 is installed in the left side of I-shaped base plate 8 by engaged wheel closing device 4, total connecting pipe 9 is located on the control box 11, and alarm lamp 10 is arranged on the upper surface of control box 11.

3, described scanning probe assembly by left probe cassette support 12, probe cassette 13, right probe cassette support 15, roller 16, elastic plate 17, couplant be responsible for 18, left couplant be in charge of 19 and right couplant be in charge of 20 and form; Probe cassette 13 is fixed on left probe cassette support 12 and the right probe cassette support 15 by the projecting shaft 13-1 on it, be provided with two rollers 16 in the bottom of right probe cassette support 15, elastic plate 17 links together left probe cassette support 12 and right probe cassette support 15, an end of the couplant person in charge 18 is fixed on the control box 11, the couplant person in charge 18 the other end is fixed on the left probe cassette support 12, by couplant be responsible for 18 tell two arms be left couplant be in charge of 19 and right couplant be in charge of 20, wherein left couplant is in charge of 19 and is used for coupling left side probe, and right couplant is in charge of the 20 right side probes that are used for being coupled.

4, described mark mechanism 14 is made up of linear electric motors 14-1, guide rod 14-2, fixed head 14-3, sliding sleeve 14-4, push pedal 14-5, spring 14-6, small machine 14-7, portable plate 14-8, rotating disk 14-9, trip bolt 14-10 and pigment rod 14-11; Guide rod 14-2 is slidingly installed on fixed head 14-3, push pedal 14-5 is slidingly installed on guide rod 14-2, portable plate 14-8 is fixedly mounted on guide rod 14-2 front end, spring 14-6 is installed between push pedal 14-5 and the portable plate 14-8, linear electric motors 14-1 is installed on the fixed head 14-3, small machine 14-7 is installed on the portable plate 14-8, and rotating disk 14-9 is installed on the motor shaft, and pigment rod 14-11 is installed on the rotating disk 14-9 by trip bolt 14-10.

5, the drive wheel assemblies 7 in the described carrier dolly by driving wheel 7-1, control bar 7-2, support disk 7-3, spring 7-4, spring slide-way 7-5 and locking cap 7-6 and form; Driving wheel 7-1 places on the elastic track, the lower end of controlling bar 7-2 is sleeved on the driving wheel wheel shaft, the upper end of controlling bar 7-2 is fixed on the support disk 7-3, the lower end of spring slide-way 7-5 is fixedly mounted on the support disk 7-3, the upper end of spring slide-way 7-5 is passed I-shaped base plate 8 and is fixed on the I-shaped base plate 8 by locking cap 7-6 mounted thereto, and spring 7-4 is enclosed within spring slide-way 7-5 outside and places between the lower surface and support disk 7-3 of I-shaped base plate 8.

6, the engaged wheel 3 in the described carrier dolly is made up of sliding way 3-1, side slideway 3-2, rolling body 3-3, glide path 3-4 and engaged wheel body 3-5; Sliding way 3-1, side slideway 3-2 and glide path 3-4 are fixedly mounted on respectively on last cambered surface, side plane and the lower camber side of engaged wheel body 3-5 inside, and in sliding way 3-1, side slideway 3-2 and glide path 3-4, all be inlaid with rolling body 3-3, engaged wheel 3 is by rolling body 3-3 and elastic track engagement, and the radian of the each several part of engaged wheel 3 cooperates with the radian of elastic track.

7, the engaged wheel closing device 4 in the described carrier dolly by fixed block 4-1, walker 4-2, dwang 4-3, control frame 4-4 and rotating shaft 4-5 forms; Rotating shaft 4-5 is installed on the walker 4-2, two upper ends of controlling frame 4-4 and dwang 4-3 all be enclosed within the outside of rotating shaft 4-5 and with rigid unitary of its formation, control frame 4-4 and engaged wheel 3 is affixed for two, walker 4-2 passes I-shaped base plate 8 and is secured on the I-shaped base plate 8 by fixed block 4-1 mounted thereto.

The invention provides a kind of pipeline weld joint automatized ultrasound flaw detection device, with solve present manual flaw detection operating procedure complexity, labour intensity is big, detection efficiency is low, easily cause and fail to judge and judge by accident and utilize multi channel ultrasonic flaw detector device position to move inconvenience, be difficult for realizing that robotization causes satisfying the problem of seam inspection requirement in enormous quantities.

The present invention has following beneficial effect: the detection technique efficient of the present invention in the pipeline girth weld Non-Destructive Testing is much higher than manual Ultrasonic Detection, at aspects such as detection speed, the pollution of minimizing environmental radiation, reduction labour intensity remarkable advantages is arranged, reduced the erroneous judgement of defective effectively, the present invention can make the flaw detection image viewing, can be in real time to defective position, quantitative, qualitative demonstration, must in the Non-Destructive Testing of marine oil engineering, occupy dominant advantage, have bright development prospect.

(4) description of drawings

Fig. 1 is an one-piece construction stereographic map of the present invention;

Fig. 2 is the structural front view of drive wheel assemblies;

Fig. 3 is the structural perspective of engaged wheel;

Fig. 4 is the structural perspective of engaged wheel closing device;

Fig. 5 is the structural front view of mark mechanism.

(5) embodiment

For example the present invention is done description in more detail below in conjunction with accompanying drawing:

In conjunction with Fig. 1, present embodiment is made up of elastic track assembly part, carrier dolly part, scanning probe assembly part and mark mechanism part major part; The carrier dolly is installed on the elastic track assembly, and the scanning probe assembly is fixed on the carrier dolly by elastic plate, and mark mechanism is fixed on the elastic plate.The present invention and ultra-sonic defect detector and Electromechanical Control case connect outward, will be before the flaw detection to pipeline girth weld surface and near rust cleaning, polish smooth, cooling processing, standardized consult straight line in 12 positions at the girth joint of pipeline, accurately put the position for the equipment track, then elastic track is fixed on from the certain distance of pipeline girth weld, while calibration system in calibration block, mark mechanism is fixed on the scanning probe assembly, and the scanning probe assembly is fixedly mounted on the carrier dolly, then the carrier dolly is installed on the track steel ring, wait for that terminal sends the scanning instruction, after scanning finishes, to on the monitor screen of terminal, demonstrate the scanning image, judge rapidly according to the image display result whether this girth joint is qualified, if qualified then send qualified signal, treat that other post operation is finished after, steel pipe is sunk to the seabed.

In conjunction with Fig. 1, the elastic track assembly is made up of elastic track and housing screw 2; Housing screw 2 is along circumferentially evenly being installed on the elastic track.The setting of elastic track is for the ease of the walking of carrier dolly at pipe surface.

In conjunction with Fig. 1, the carrier dolly is made up of engaged wheel 3, engaged wheel closing device 4, motor case 5, shaft coupling 6, drive wheel assemblies 7, I-shaped base plate 8, total connecting pipe 9, alarm lamp 10, control box 11 and connecting link 21; Control box 11 places on the upper surface of I-shaped base plate 8 and with control box 11 and is made as one, drive wheel assemblies 7 is installed in the bottom of I-shaped base plate 8, motor case 5 is fixed on the lower surface of I-shaped base plate 8 and the electric machine main shaft in it is connected with the driving wheel 7-1 of drive wheel assemblies 7 by shaft coupling 6, two engaged wheels 3 are fixedly mounted on the right side of I-shaped base plate 8 by connecting link 21, two other engaged wheel 3 is installed in the left side of I-shaped base plate 8 by engaged wheel closing device 4, total connecting pipe 9 is located on the control box 11, and alarm lamp 10 is arranged on the upper surface of control box 11.Before being installed to the carrier dolly on the elastic track, two engaged wheels in left side are in open configuration, first company's engaged wheel with the right side is engaged to track and driving wheel is pressed on the pipe surface, then with two engaged wheel closures in left side, total connecting pipe 9 is the passages that connect control box 11 and outside Electromechanical Control case and reflectoscope, wherein comprise all cables, in the flaw detection process when detecting defective the carrier dolly can stop and sending alerting signal by alarm lamp 10.

In conjunction with Fig. 1, the scanning probe assembly by left probe cassette support 12, probe cassette 13, right probe cassette support 15, roller 16, elastic plate 17, couplant be responsible for 18, left couplant be in charge of 19 and right couplant be in charge of 20 and form; Probe cassette 13 is fixed on left probe cassette support 12 and the right probe cassette support 15 by the projecting shaft 13-1 on it, be provided with two rollers 16 in the bottom of right probe cassette support 15, elastic plate 17 links together left probe cassette support 12 and right probe cassette support 15, an end of the couplant person in charge 18 is fixed on the control box 11, the couplant person in charge 18 the other end is fixed on the left probe cassette support 12, by couplant be responsible for 18 tell two arms be left couplant be in charge of 19 and right couplant be in charge of 20, wherein left couplant is in charge of 19 and is used for coupling left side probe, and right couplant is in charge of the 20 right side probes that are used for being coupled.The scanning probe assembly is fixedly mounted on the carrier dolly by elastic plate, a left side, right probe cassette props up the both sides that are placed on weld seam, and its bottom is parallel, two rollers of right probe cassette frame bottom place on the pipe surface so that there is a determining deviation between probe cassette and the pipe surface, probe in the probe cassette can also be the combination of ordinary ultrasonic probe for phased array probe, when slipping over the pipeline outer wall surface, probe sprays one deck couplant film in advance in the probe bottom surface, and can not there be the space, spray couplant with pump from ground to the spray line that is connected probe the place ahead, probe pushes finish at once and causes and be full of couplant between probe and the pipe surface and do not have the space, has improved flaw detection effect.

In conjunction with Fig. 5, mark mechanism 14 is made up of linear electric motors 14-1, guide rod 14-2, fixed head 14-3, sliding sleeve 14-4, push pedal 14-5, spring 14-6, small machine 14-7, portable plate 14-8, rotating disk 14-9, trip bolt 14-10 and pigment rod 14-11; Guide rod 14-2 is slidingly installed on fixed head 14-3, push pedal 14-5 is slidingly installed on guide rod 14-2, portable plate 14-8 is fixedly mounted on guide rod 14-2 front end, spring 14-6 is installed between push pedal 14-5 and the portable plate 14-8, linear electric motors 14-1 is installed on the fixed head 14-3, small machine 14-7 is installed on the portable plate 14-8, and rotating disk 14-9 is installed on the motor shaft, and pigment rod 14-11 is installed on the rotating disk 14-9 by trip bolt 14-10.When detecting, finding the pipe welding seam defectiveness, start mark mechanism immediately, linear electric motors drive push pedal and move forward, and promote portable plate and guide rod together moves forward by spring, when the pigment rod on the motor shaft rotating disk touches weld seam, mark a ring shape mark immediately, finish work up to standard after, linear electric motors drive push pedal, portable plate and guide rod and together move backward and resets.

In conjunction with Fig. 2, drive wheel assemblies 7 by driving wheel 7-1, control bar 7-2, support disk 7-3, spring 7-4, spring slide-way 7-5 and locking cap 7-6 and form; Driving wheel 7-1 places on the elastic track, the lower end of controlling bar 7-2 is sleeved on the driving wheel wheel shaft, the upper end of controlling bar 7-2 is fixed on the support disk 7-3, the lower end of spring slide-way 7-5 is fixedly mounted on the support disk 7-3, the upper end of spring slide-way 7-5 is passed I-shaped base plate 8 and is fixed on the I-shaped base plate 8 by locking cap 7-6 mounted thereto, and spring 7-4 is enclosed within spring slide-way 7-5 outside and places between the lower surface and support disk 7-3 of I-shaped base plate 8.The motor-driven driving wheel moves and drives whole device and move along pipe surface, and the drive wheel assemblies that is in operation can also provide an elastic force radially.

In conjunction with Fig. 3, engaged wheel 3 is made up of sliding way 3-1, side slideway 3-2, rolling body 3-3, glide path 3-4 and engaged wheel body 3-5; Sliding way 3-1, side slideway 3-2 and glide path 3-4 are fixedly mounted on respectively on last cambered surface, side plane and the lower camber side of engaged wheel body 3-5 inside, and in sliding way 3-1, side slideway 3-2 and glide path 3-4, all be inlaid with rolling body 3-3, engaged wheel 3 is by rolling body 3-3 and elastic track engagement, and the radian of the each several part of engaged wheel 3 cooperates with the radian of elastic track.The engaged wheel each several part all has the radian that matches with elastic track to be convenient to the carrier dolly and to move on elastic track, and three friction force when all having adopted rolling body to reduce motion.

In conjunction with Fig. 4, engaged wheel closing device 4 by fixed block 4-1, walker 4-2, dwang 4-3, control frame 4-4 and rotating shaft 4-5 forms; Rotating shaft 4-5 is installed on the walker 4-2, two upper ends of controlling frame 4-4 and dwang 4-3 all be enclosed within the outside of rotating shaft 4-5 and with rigid unitary of its formation, control frame 4-4 and engaged wheel 3 is affixed for two, walker 4-2 passes I-shaped base plate 8 and is secured on the I-shaped base plate 8 by fixed block 4-1 mounted thereto.Owing to control frame 4-4 and dwang 4-3 and form that a rigid unitary and two control frame 4-4 and engaged wheel 3 is affixed for two, then drive dwang and promptly realized the rotation of engaged wheel around rotating shaft around the rotating shaft rotation, also just changed the folding condition of engaged wheel.

Claims (5)

1. a pipeline weld joint automatized ultrasound flaw detection device is characterized in that: comprise the elastic track assembly, carrier dolly, scanning probe assembly and the mark mechanism that are made up of elastic track and housing screw; The carrier dolly is installed on the elastic track assembly, and the scanning probe assembly is fixed on the carrier dolly by elastic plate, and mark mechanism is fixed on the elastic plate; Described carrier dolly is made up of engaged wheel (3), engaged wheel closing device (4), motor case (5), shaft coupling (6), drive wheel assemblies (7), I-shaped base plate (8), total connecting pipe (9), alarm lamp (10), control box (11) and connecting link (21); I-shaped base plate (8) is made as one with control box (11), control box (11) places on the upper surface of I-shaped base plate (8), drive wheel assemblies (7) is installed in the bottom of I-shaped base plate (8), motor case (5) is fixed on the lower surface of I-shaped base plate (8) and the electric machine main shaft in it is connected with the driving wheel (7-1) of drive wheel assemblies (7) by shaft coupling (6), two engaged wheels (3) are fixedly mounted on the right side of I-shaped base plate (8) by connecting link (21), two other engaged wheel (3) is installed in the left side of I-shaped base plate (8) by engaged wheel closing device (4), total connecting pipe (9) is located on the control box (11), and alarm lamp (10) is arranged on the upper surface of control box (11).
2. pipeline weld joint automatized ultrasound flaw detection device according to claim 1 is characterized in that: the drive wheel assemblies (7) in the described carrier dolly by driving wheel (7-1), control bar (7-2), support disk (7-3), spring (7-4), spring slide-way (7-5) and locking cap (7-6) and form; Driving wheel (7-1) places on the elastic track, the lower end of controlling bar (7-2) is sleeved on the driving wheel wheel shaft, the upper end of controlling bar (7-2) is fixed on the support disk (7-3), the lower end of spring slide-way (7-5) is fixedly mounted on the support disk (7-3), the upper end of spring slide-way (7-5) is passed I-shaped base plate (8) and is fixed on the I-shaped base plate (8) by locking cap mounted thereto (7-6), and spring (7-4) is enclosed within spring slide-way (7-5) outside and places between the lower surface and support disk (7-3) of I-shaped base plate (8).
3. pipeline weld joint automatized ultrasound flaw detection device according to claim 2 is characterized in that: the engaged wheel (3) in the described carrier dolly is made up of sliding way (3-1), side slideway (3-2), rolling body (3-3), glide path (3-4) and engaged wheel body (3-5); Sliding way (3-1), side slideway (3-2) and glide path (3-4) are fixedly mounted on respectively on engaged wheel body (3-5) inner last cambered surface, side plane and the lower camber side, and in sliding way (3-1), side slideway (3-2) and glide path (3-4), all be inlaid with rolling body (3-3), engaged wheel (3) is by rolling body (3-3) and elastic track engagement, and the radian of the each several part of engaged wheel (3) cooperates with the radian of elastic track.
4. pipeline weld joint automatized ultrasound flaw detection device according to claim 3 is characterized in that: the engaged wheel closing device (4) in the described carrier dolly by fixed block (4-1), walker (4-2), dwang (4-3), control frame (4-4) and rotating shaft (4-5) is formed; Rotating shaft (4-5) is installed on the walker (4-2), two upper ends of controlling frame (4-4) and dwang (4-3) all be enclosed within the outside of rotating shaft (4-5) and with rigid unitary of its formation, two to control frame (4-4) and engaged wheel (3) affixed, and walker (4-2) passes I-shaped base plate (8) and is secured on the I-shaped base plate (8) by fixed block mounted thereto (4-1).
5. pipeline weld joint automatized ultrasound flaw detection device according to claim 4 is characterized in that: described scanning probe assembly is responsible for (18), left couplant by left probe cassette support (12), probe cassette (13), right probe cassette support (15), roller (16), elastic plate (17), couplant and is in charge of (19) and right couplant and is in charge of (20) and forms; Probe cassette (13) is fixed on left probe cassette support (12) and the right probe cassette support (15) by the projecting shaft on it (13-1), be provided with two rollers (16) in the bottom of right probe cassette support (15), elastic plate (17) links together left probe cassette support (12) and right probe cassette support (15), the end that couplant is responsible for (18) is fixed on the control box (11), the other end that couplant is responsible for (18) is fixed on the left probe cassette support (12), telling two arms by the couplant person in charge (18) is that left couplant is in charge of (19) and right couplant is in charge of (20), wherein left couplant is in charge of (19) and is used for coupling left side probe, and right couplant is in charge of (20) the right side probe that is used for being coupled.
CN2008100644380A 2008-05-05 2008-05-05 Pipeline weld joint automatized ultrasound flaw detection device CN101285797B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN2008100644380A CN101285797B (en) 2008-05-05 2008-05-05 Pipeline weld joint automatized ultrasound flaw detection device

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CN101285797B true CN101285797B (en) 2010-10-20

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CN102062757A (en) * 2010-12-14 2011-05-18 西安科技大学 Automatic ultrasonic detection system of circular soldering seam flaw of hydraulic bracket cylinder in mine
CN102353880A (en) * 2011-07-11 2012-02-15 云南电力试验研究院(集团)有限公司 Visualized nondestructive detection method of internal defect of power switch equipment
CN102506777A (en) * 2011-11-28 2012-06-20 成都飞机工业(集团)有限责任公司 Ultrasonic detection fixture
CN102759577B (en) * 2012-07-25 2015-02-25 中国计量学院 Phased ultrasonic automatic detecting and positioning system for trunnion ring weld of steel ladle
CN103175901B (en) * 2013-03-26 2016-03-02 广东电网公司电力科学研究院 Be applicable to the ultrasonic automatic scanning device of streamlined changeable fillet weld ultrasonic scan
CN103604866B (en) * 2013-10-14 2016-05-18 广西南南铝加工有限公司 Immersion type ultrasonic equipment plate defect labelling apparatus and marking method
CN104749257B (en) * 2013-12-31 2019-01-08 中核武汉核电运行技术股份有限公司 Ultrasonic wave angle adjustment device in water seaoning ultrasound detection
CN104384742B (en) * 2014-11-14 2017-02-08 深圳市神视检验有限公司 Automatic detection trolley for intersecting line welding line
CN104407116B (en) * 2014-12-02 2016-03-30 武汉翰铁科技有限公司 A kind of steel rail welding line defectoscope and method of detection
CN105806961B (en) * 2014-12-30 2019-04-16 中核武汉核电运行技术股份有限公司 A kind of elastic coupling device of ultrasonic examining probe
CN105467005B (en) * 2015-11-28 2018-11-13 浙江国盛铜业有限公司 A kind of weld seam detection robot
CN106560708B (en) * 2016-08-31 2019-03-29 安徽金三环金属科技有限公司 A kind of floating flaw detection tooling
CN107902005A (en) * 2017-12-20 2018-04-13 成都大漠石油技术有限公司 A kind of automatically walk system of the flaw detection trolley of pipeline-weld
CN107941922A (en) * 2017-12-20 2018-04-20 成都大漠石油技术有限公司 A kind of walker for petroleum pipeline weld joint automatic flaw detection trolley
CN108274170A (en) * 2018-01-25 2018-07-13 成都科盛石油科技有限公司 A kind of automatically walk method of petroleum pipeline weld seam trolley
CN108593768B (en) * 2018-01-31 2020-09-01 徐州工程学院 Be arranged in carbon tetrachloride treatment facility muffler pipe welding seam testing platform

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Address after: 100010 Chaoyangmen North Street, Dongcheng District, Dongcheng District, Beijing

Co-patentee after: Offshore Oil Engineering Co., Ltd.

Patentee after: China Offshore Oil Group Co., Ltd.

Co-patentee after: Harbin Engineering Univ.

Address before: 100000 Chaoyangmen North Street, east city, Beijing, No. 25

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Address after: 100010 Chaoyangmen North Street, Dongcheng District, Dongcheng District, Beijing

Co-patentee after: Offshore Oil Engineering Co., Ltd.

Patentee after: China Offshore Oil Group Co., Ltd.

Co-patentee after: Harbin Engineering Univ.

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CF01 Termination of patent right due to non-payment of annual fee