CN103439415B - Electromagnetic ultrasonic automatic detection crawler for exposed pipeline - Google Patents
Electromagnetic ultrasonic automatic detection crawler for exposed pipeline Download PDFInfo
- Publication number
- CN103439415B CN103439415B CN201310404291.6A CN201310404291A CN103439415B CN 103439415 B CN103439415 B CN 103439415B CN 201310404291 A CN201310404291 A CN 201310404291A CN 103439415 B CN103439415 B CN 103439415B
- Authority
- CN
- China
- Prior art keywords
- wheel
- auxiliary wheel
- driving wheel
- probe
- electromagnetic ultrasonic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention provides an electromagnetic ultrasonic automatic detection crawler for an exposed pipeline. The electromagnetic ultrasonic automatic detection crawler comprises driving wheel ring supports, driving wheel assemblies, a controller assembly, auxiliary wheel assemblies, sliding supporting seat, universal connecting assemblies, auxiliary wheel ring supports and probe assemblies. According to the electromagnetic ultrasonic automatic detection crawler, external rotor motors in driving wheels are controlled through the controller assembly, and auxiliary wheels are dragged through the universal connecting assemblies; the crawler is adsorbed by virtue of the magnetic force between permanent magnets and the pipe wall; automatic pipeline defect detection is realized through stimulating/receiving modules in the controller assembly by utilizing two circumferentially distributed electromagnetic ultrasonic probes. The electromagnetic ultrasonic automatic detection crawler can be used for carrying out online automatic ultrasonic non-destructive detection on pressure transmission pipelines in industries of electricity, petrochemical, water supply and the like, is suitable for the exposed pipelines distributed in different manners such as a horizontal manner, a vertical manner, an oblique manner and the like, can be adapted to crossing curves and has a detection pipe diameter capable of varying in a certain range and the advantages of high automation degree, strong suitability, high detection efficiency and the like.
Description
Technical field
The present invention relates to the automatic field of non destructive testing of pipeline, be specifically related to a kind of for exposed pipe electromagnetic ultrasonic automatic detection crawler, can be applicable to the on-line automatic Ultrasonic NDT of the exposed pressure delivery pipeline of the industries such as electric power, oil, chemical industry, rock gas, water supply.
Background technology
Pipeline transportation has environmental protection, safe and reliable to operation, loss is low and easily realize the advantages such as Automated condtrol, is used widely in important industries such as electric power, oil, chemical industry, rock gas, water supply.The factor such as long term and external environment corrosion by inside transport medium load affects, pipeline is made in use easily to occur the defects such as crackle, spot corrosion, shrinkage cavity, pipe leakage can be caused when these defects are serious, burst, cause the wasting of resources, environmental pollution and threaten personal safety, therefore, periodic detection and maintenance must be carried out to pipeline.
Ultrasonic NDT is one of main means of pipe detection, can be divided into manual detection method and automatic detection method at present to the approach of ultrasonic pipeline inspection.Manual detection method efficiency is low, labour intensity large, data are not easily preserved, and some occasion manual detection is very inconvenient or dangerous.Therefore, the automatic detection method of pipeline and pick-up unit obtain more and more attention just gradually.As application publication number CN102878385A, a kind of fluid that patent document discloses in date of publication on January 16th, 2013 drives self-adapting pipe crawl device, pipeline on-line checkingi is realized by the mode of carrying pick-up unit, caliber can be adapted to and change occasion in certain limit, and there is Automatic adjusument creep speed function; Authorize publication No. CN100561213C, authorize the robot that patent document discloses a kind of petroleum pipe line supersonic detection method and detect in date of publication on November 18th, 2009, it is a kind of online detection instrument for petroleum transportation pipeline, have that structure is simple, energy consumption is low, and the advantage such as range ability is long; Authorize publication No. CN2545606Y, that authorizes date of publication on April 16th, 2003 patent document discloses a kind of automatic deviation-rectifying pipeline creeper, and this crawl device can be used for pipe detection work, has automatic deviation correction, turns round in crawling process, and prevents overturning function.But, above-mentioned pipeline on-line automatic detection device can only realize inner-walls of duct and to creep detection, affects the normal transport of pipeline, and is difficult to adapt to high temperature, high pressure, and the detection of Korrosionsmedium transport pipeline, also there is the problems such as the flaw detection sensitivities such as the nearly surface crack of pipeline outer wall are low simultaneously.Therefore, study a kind of pipeline outer wall automatic detection device of creeping that is applicable to and there is important engineer applied value and significance.As authorized publication No. CN100503342C, that authorizes date of publication on June 24th, 2009 patent document discloses a kind of wheeled type permanent magnetism adsorption pipeline creeping robot, this climbing robot carries out pipe detection by carrying detecting sensor, can creep along pipeline external surface by any route, but this device exists that load-bearing capacity is low is difficult to carry the defect such as heavier pick-up unit, single area of detection be little, be difficult to realize high efficient detection.In addition, current pipeline outer wall pick-up unit in the adaptability to tested pipeline, as pipeline vertically, inclinations, the occasion such as bend pipe, still there is key technology problems needs solution.
Summary of the invention
The object of this invention is to provide a kind of for exposed pipe electromagnetic ultrasonic automatic detection crawler, this crawl device can realize the automatic ultrasonic Non-Destructive Testing of pipeline along ferromagnetic tubes pipeline outer wall automatic creeping.The defect of pipeline on the way can be detected by crawling process, and the defect location of axial and circumferential can be carried out, improve detection efficiency.Simultaneously this device can detection level, vertically, the different exposed pipeline arranged such as inclination, and self-adaptation can cross bend pipe, detecting caliber can change within the specific limits, improves the adaptability to tested pipeline.
The technical solution used in the present invention: a kind of for exposed pipe electromagnetic ultrasonic automatic detection crawler, comprises driving wheel ring support, auxiliary wheel ring support, drive wheel assemblies, auxiliary wheel assembly, control assembly, slides bearing, universal coupling assembling and probe assembly; Drive wheel assemblies to coordinate with the T-slot on driving wheel ring support install by sliding bearing; Auxiliary wheel assembly, probe assembly to coordinate with the T-slot on auxiliary wheel ring support install by sliding bearing; Control assembly is arranged on driving wheel ring support; Universal coupling assembling is arranged on the place of picking up the ears of driving wheel, auxiliary wheel ring support.
On driving wheel, auxiliary wheel ring support, the place of picking up the ears of semi-ring has through hole, and the lower semi-ring place of picking up the ears has U-shaped groove; The upper semi-ring of driving wheel, auxiliary wheel ring support is fixedly connected with the ring stand pulling seat in universal coupling assembling by screw, and lower semi-ring is locked on ring stand pulling seat by latch mechanism, is convenient to the installation and removal of crawl device.
All shock attenuation device is housed in drive wheel bracket side grooves in drive wheel assemblies and the auxiliary wheel support side grooves in auxiliary wheel assembly, for reducing in crawling process because of the vibration that the factors such as pipe surface out-of-flatness, weld seam cause, effectively improve kinetic stability.
Adapt to caliber by regulating drive wheel assemblies, auxiliary wheel assembly and probe assembly and change occasion in certain limit sliding the installation site on bearing.
Driving wheel control, detection signal collection is realized by control assembly, and the long-range motion control etc. of crawl device, and be equipped with power module in inside, short distance pipe detection is powered by the accumulator in power module, and long-distance pipe detects, and power module need access external power source by external cable.
Driving wheel in drive wheel assemblies, built with external rotor electric machine, drives crawl device with this, and realizes auxiliary wheel dragging; External rotor electric machine is connected with the motor control module in control assembly, realizes the motion control of crawl device; By torque, the speed probe of driving wheel inside, detect the torque of each driving wheel, rotating speed in real time, and when motion fault appears in crawl device, torque sensor is automatic alarm because exceeding threshold value.
When crawl device runs to bend place, control assembly is according to each driving wheel travelling speed and torque difference, the control of rotating speed auto-compensation is carried out to each driving wheel, and expansion link in universal coupling assembling can Automatic adjusument collapsing length, guarantees that crawl device smoothly passes bend.
Crawl device is used for vertically, the pipe detection that is in tilted layout time, realize crawl device absorption by the magnetic force between permanent magnet and tube wall, the parts such as crawl device ring support adopt the light materials such as aluminium alloy to make, to reduce crawl device self gravitation load.
Adopt two to carry out defects detection along pipeline outer wall electromagnetic ultrasonic probe circumferentially, produce ultrasonic Lamb waves at tested pipeline tube wall; The surface design of probe is the face of cylinder, and its radius is suitable with pipeline outer wall radius, and by regulating the relative installation between transmitting and receiving probe assembly to change detection corner dimension.
Realize probe excitation by the electromagnetic acoustic excitation/receiver module in control assembly and echo voltage signal receives, the ultrasonic Lamb waves produced is propagated along tube wall, realizes the detection realizing the whole tube wall of inspection positions in not rotated pipe situation thus; The data that Data Acquisition Module for Ultrasonic Signal collects are stored in the storer in control assembly, carry out signal simultaneously process online by signal analysis and defect recognition module, as defect then automatic alarm detected; Data in storer are transferred in computing machine by usb data interface, realize the off-line analysis of ultrasound detection signal, and in conjunction with the relation determination defective locations between rotating speed, time, displacement and pipeline internal-and external diameter parameter.
Beneficial effect of the present invention is the on-line automatic Ultrasonic NDT of pressure delivery pipeline that can realize the industries such as electric power, oil, chemical industry, rock gas, water supply, be applicable to level, vertically, the different exposed pipeline arranged such as inclination, and self-adaptation can cross bend pipe, detect caliber and can change occasion within the specific limits, and have that automaticity is high, strong adaptability, detection efficiency advantages of higher.
Accompanying drawing explanation
Fig. 1 is entirety assembling schematic diagram of the present invention.
Fig. 2 is the upper and lower semi-ring connection diagram of ring support of the present invention.
Fig. 3 is drive wheel assemblies schematic diagram of the present invention.
Fig. 4 is auxiliary wheel assembly schematic diagram of the present invention.
Fig. 5 is universal coupling assembling schematic diagram of the present invention.
Fig. 6 is probe assembly schematic diagram of the present invention.
Fig. 7 is the formation schematic diagram of control assembly of the present invention.
Fig. 8 is electromagnetic acoustic launching and receiving schematic diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, a kind of for exposed pipe electromagnetic ultrasonic automatic detection crawler, comprise driving wheel ring support 1, drive wheel assemblies 2, control assembly 3, auxiliary wheel assembly 4, slide bearing 5, universal coupling assembling 6, auxiliary wheel ring support 7, probe assembly 8; Described drive wheel assemblies 2 to coordinate with the T-slot on driving wheel ring support 1 install by sliding bearing; Described auxiliary wheel assembly 4 and probe assembly 8 to coordinate with the T-slot on auxiliary wheel ring support 7 install by sliding bearing; Described control assembly 3 is arranged on the ring stand of driving wheel ring support 1; Described universal coupling assembling 6 is arranged on the place of picking up the ears of driving wheel ring support 1 and auxiliary wheel ring support 7; Shown in composition graphs 2, on driving wheel ring support 1, auxiliary wheel ring support 7, the place of picking up the ears of semi-ring has through hole, the lower semi-ring place of picking up the ears has U-shaped groove, upper semi-ring is fixedly connected with ring stand pulling seat 65 by screw, and the latch mechanism that lower semi-ring is made up of locking spring 61, spring base 62, locking wrench 63, locking pulling shaft 64 and ring stand pulling seat 65 is locked on ring stand pulling seat 65.
As shown in Figure 3, drive wheel assemblies 2 comprises driving wheel slide bar 21, shock attenuation device 22, drive wheel bracket 23, wheel shaft 24, permanent magnet bracket 25, driving wheel 26, permanent magnet 27; Described drive wheel bracket 23 coordinates with driving wheel slide bar 21 installs, in its grooves on two sides built with shock attenuation device 22; Described shock attenuation device 22 comprises damping spring 221, spring base 222 and attachment screw 223, and is connected with driving wheel slide bar 21 by attachment screw 223; Described driving wheel 26 is arranged in drive wheel bracket 23 by wheel shaft 24; Described permanent magnet bracket 25 is arranged in drive wheel bracket 23, and by screw fixing permanent magnet 27.
As shown in Figure 4, auxiliary wheel assembly 4 comprises auxiliary wheel slide bar 41, shock attenuation device 42, auxiliary wheel support 43, wheel shaft 44, auxiliary wheel 45; Described auxiliary wheel support 43 coordinates with auxiliary wheel slide bar 41 to be installed, in its grooves on two sides built with shock attenuation device 42; Described shock attenuation device 42 comprises damping spring 421, spring base 422 and attachment screw 423, and is connected with auxiliary wheel slide bar 41 by attachment screw 423; Described auxiliary wheel 45 is arranged on auxiliary wheel support 43 by wheel shaft 44.
As shown in Figure 5, universal coupling assembling 6 comprises locking spring 61, spring base 62, locking wrench 63, locking pulling shaft 64, ring stand pulling seat 65, universal joint 66, expansion link 67; Described locking spring 61, spring base 62 are arranged on the lower end of locking pulling shaft 64; Described locking wrench 63 is connected with locking pulling shaft 64 by bearing pin; Described locking pulling shaft 64 is arranged on ring stand pulling seat 65; Described ring stand pulling seat 65 is connected with expansion link 67 by universal joint 66.
As shown in Figure 6, probe assembly 8 comprises probe support bar 81, probe socket 82, trip bolt 83, electromagnetic ultrasonic probe 84; Described probe socket 82 is arranged on the lower end of probe support bar 81; Described electromagnetic ultrasonic probe 84 is arranged on probe socket 82, and is fixed by trip bolt 83.
As shown in Figure 7, the power module in control assembly is used for powering to crawl device, and long distance detects and need access external power source by external cable; Motor control module in control assembly, torque/speed acquisition module, motion fault alarm, wireless signal transmission receiver module and external wireless manual operator, be respectively used to driving wheel control, automatic alarm, crawl device Long-distance Control when motion fault appears in the collection of torque rotary speed data, crawl device; Electromagnetic acoustic excitation/receiver module in control assembly, ultrasonic signal acquisition module, signal analysis and defect recognition module, flaw indication alarm, the excitation and the echo signal reception that are respectively used to pop one's head in, automatically to identify the ultrasonic signal collected and determining defects, to realize defect automatic alarm; Storer in control assembly is used for the storage that crawl device detects data, and carry out data transmission by the usb data interface in control assembly, for carrying out further off-line analysis to tested pipeline, simultaneously by usb data interface, can arrange and revise the parameter in crawl device control assembly, as pipeline internal-and external diameter, motor speed, alarm threshold value and other detected parameters etc.
Crawl device adjustment process: according to tested pipeline diameter, adjustment drive wheel assemblies 2, auxiliary wheel assembly 4 and probe assembly 8 are sliding the installation site on bearing, driving wheel 26 and auxiliary wheel 45 are contacted with pipeline outer wall well, and ensure that detecting head surface and pipe surface keep 4 ~ 5mm distance, in order to avoid damage probe in installation process; Adjustment the installation site of probe assembly on auxiliary wheel ring support 7, make transmitting, receiving transducer detect angle meet technological requirement; After completing above adjustment, crawl device is correctly arranged on tested pipeline, and adjusts the distance between detecting head surface and pipe surface, detection sensitivity is met the demands.
Crawl device motion control process: after controlling startup by outside manual operator, by wireless signal transmission/receiver module, control the external rotor electric machine in driving wheel by motor control module, detect each driving wheel rotating speed, torque in real time by torque/speed acquisition module simultaneously; When motion fault appears in crawl device, torque sensor moment of torsion starts motion fault alarm automatically because exceeding threshold value.
The ultrasonic inspection process of crawl device: before crawl device work, by usb data interface setting or tamper detection parameter; After crawl device work starts, the excitation of being popped one's head in by the realization of electromagnetic acoustic excitation/receiver module and echo voltage signal receive, as shown in Figure 8, the ultrasonic Lamb waves that transmitting probe 841 produces at tube wall is propagated along S1 and S2 both direction, when ultrasonic Lamb waves propagates into receiving transducer 842 region, echo voltage signal is obtained by receiver module, then gathered by Data Acquisition Module for Ultrasonic Signal, and be stored in storer, monitored in real time ultrasound echo signal by signal analysis and defect recognition module, as detected, defect then starts defect alarm simultaneously; Data in storer are transferred in computing machine by usb data interface, realize the off-line analysis of ultrasound detection signal, and determine defective locations in conjunction with the relation between rotating speed, time, displacement and pipeline internal-and external diameter parameter.
Claims (3)
1., for an exposed pipe electromagnetic ultrasonic automatic detection crawler, comprise driving wheel ring support (1), drive wheel assemblies (2), control assembly (3), auxiliary wheel assembly (4), slide bearing (5), universal coupling assembling (6), auxiliary wheel ring support (7) and probe assembly (8); It is characterized in that: described drive wheel assemblies (2) to coordinate with the T-slot on driving wheel ring support (1) install by sliding bearing; Described control assembly (3) is arranged on driving wheel ring support (1); Described universal coupling assembling (6) is arranged on the place of picking up the ears of driving wheel ring support (1) and auxiliary wheel ring support (7); Described auxiliary wheel assembly (4) and probe assembly (8) to coordinate with the T-slot on auxiliary wheel ring support (7) install by sliding bearing;
Described drive wheel assemblies (2) comprises driving wheel slide bar (21), shock attenuation device (22), drive wheel bracket (23), wheel shaft (24), permanent magnet bracket (25), driving wheel (26) and permanent magnet (27); Described drive wheel bracket (23) coordinates with driving wheel slide bar (21) installs, in its grooves on two sides built with shock attenuation device (22); Described shock attenuation device (22) comprises damping spring (221), spring base (222) and attachment screw (223), is connected with driving wheel slide bar (21) by attachment screw (223); Described driving wheel (26) is arranged in drive wheel bracket (23) by wheel shaft (24); Described permanent magnet bracket (25) is arranged in drive wheel bracket (23), and by screw fixing permanent magnet (27);
Described auxiliary wheel assembly (4) comprises auxiliary wheel slide bar (41), shock attenuation device (42), auxiliary wheel support (43), wheel shaft (44) and auxiliary wheel (45); Described auxiliary wheel support (43) coordinates with auxiliary wheel slide bar (41) to be installed, in its grooves on two sides built with shock attenuation device (42); Described shock attenuation device (42) comprises damping spring (421), spring base (422) and attachment screw (423), is connected with auxiliary wheel slide bar (41) by attachment screw (423); Described auxiliary wheel (45) is arranged on auxiliary wheel support (43) by wheel shaft (44);
Described universal coupling assembling (6) comprises locking spring (61), spring base (62), locking wrench (63), locking pulling shaft (64), ring stand pulling seat (65), universal joint (66) and expansion link (67); Described locking spring (61), spring base (62) are arranged on the lower end of locking pulling shaft (64); Described locking wrench (63) is arranged in locking pulling shaft (64) by pinned connection; Described locking pulling shaft (64) is arranged on ring stand pulling seat (65); Described ring stand pulling seat (65) is connected with expansion link (67) by universal joint (66);
Described probe assembly (8) comprises probe support bar (81), probe socket (82), trip bolt (83) and electromagnetic ultrasonic probe (84); Described probe socket (82) is arranged on probe support bar (81); Described electromagnetic ultrasonic probe (84) is arranged on probe socket (82), and its detecting head surface is the face of cylinder, and radius is suitable with pipeline outer wall radius, is fixed by trip bolt (83).
2. one according to claim 1 is used for exposed pipe electromagnetic ultrasonic automatic detection crawler, it is characterized in that: by regulating drive wheel assemblies (2), auxiliary wheel assembly (4) and probe assembly (8) to adapt to caliber and change occasion in certain limit sliding the installation site on bearing, and slide the installation site of bearing on auxiliary wheel ring support (7) by adjustment and change probe and detect corner dimension.
3. one according to claim 1 is used for exposed pipe electromagnetic ultrasonic automatic detection crawler, it is characterized in that: rotating speed, torque sensor are equipped with in described driving wheel (26) inside, the rotating speed of each driving wheel of real-time detection and torque, and gather computing by control assembly, realize the control to each driving wheel, simultaneously in conjunction with ultrasound detection signal, realize the location of defect of pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310404291.6A CN103439415B (en) | 2013-09-09 | 2013-09-09 | Electromagnetic ultrasonic automatic detection crawler for exposed pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310404291.6A CN103439415B (en) | 2013-09-09 | 2013-09-09 | Electromagnetic ultrasonic automatic detection crawler for exposed pipeline |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103439415A CN103439415A (en) | 2013-12-11 |
| CN103439415B true CN103439415B (en) | 2015-04-08 |
Family
ID=49693118
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310404291.6A Expired - Fee Related CN103439415B (en) | 2013-09-09 | 2013-09-09 | Electromagnetic ultrasonic automatic detection crawler for exposed pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103439415B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108333307A (en) * | 2018-02-07 | 2018-07-27 | 苏州热工研究院有限公司 | A kind of turbine rotor welding point detecting system |
Families Citing this family (46)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103899841B (en) * | 2014-03-19 | 2015-09-30 | 哈尔滨工程大学 | A kind of submarine pipeline outer creeping-type paving bagging apparatus |
| CN105319264A (en) * | 2015-12-01 | 2016-02-10 | 张萍 | Flaw detection system for petroleum exploration by using magnetic powder flaw detection technique |
| CN106855557A (en) * | 2015-12-09 | 2017-06-16 | 中国石油天然气股份有限公司 | Testing device for testing internal detection sensor |
| CN105668446B (en) * | 2016-03-25 | 2018-05-11 | 国网山东省电力公司济宁供电公司 | The device and its installation tool of equipment hoisting on overhead power line bar |
| CN106369287A (en) * | 2016-08-31 | 2017-02-01 | 南京化工特种设备检验检测研究所 | Online detection device for pipeline corrosion |
| CN106198637A (en) * | 2016-09-18 | 2016-12-07 | 中国石油大学(华东) | A kind of multi-electrode direct imaging for jacket tube defects detection is popped one's head in |
| CN106314583B (en) * | 2016-09-18 | 2018-11-30 | 三峡大学 | Articulated type pole-climbing detects robot |
| CN106594455B (en) * | 2016-12-20 | 2018-08-21 | 中国石油大学(北京) | Robot is detected outside a kind of across the obstacle direction-adaptive pipeline of double claw type |
| CN107064297B (en) * | 2017-02-15 | 2017-11-14 | 东北石油大学 | A kind of open endless tube is creeped detection means |
| CN106996958A (en) * | 2017-03-31 | 2017-08-01 | 山东科技大学 | A kind of long transport pipeline automatic detection device based on bimodal supersonic guide-wave |
| CN107178707A (en) * | 2017-05-11 | 2017-09-19 | 成都润泰茂成科技有限公司 | One kind is easy to use the accurate corrosive pipeline online detection instrument of detection |
| CN107253496B (en) * | 2017-06-19 | 2018-03-27 | 荆门宁杰机电技术服务有限公司 | A kind of automatic mechanical device for climbing lamp stand |
| CN107380291B (en) * | 2017-07-12 | 2024-01-19 | 北京理工大学 | Multi-motion-mode pipeline outer wall climbing detection robot |
| CN107271551A (en) * | 2017-07-19 | 2017-10-20 | 天津市首通工程检测技术有限公司 | A kind of pipe detection magnetic force creeper-traveler |
| CN109557188B (en) * | 2017-09-25 | 2024-09-13 | 南京驰新科技有限责任公司 | Flaw detection crawling frame |
| CN109959701A (en) * | 2017-12-14 | 2019-07-02 | 湘潭宏远电子科技有限公司 | A kind of high-temperature pipe inner oxide non-destructive testing device |
| CN109959756A (en) * | 2017-12-14 | 2019-07-02 | 湘潭宏远电子科技有限公司 | A kind of non-destructive testing device |
| CN109932421A (en) * | 2017-12-15 | 2019-06-25 | 湘潭宏远电子科技有限公司 | Foreign matter lossless detection method and device in metallic conduit |
| CN108572217B (en) * | 2017-12-15 | 2022-02-15 | 湘潭宏远电子科技有限公司 | Oxide skin detection method and device |
| CN109932417A (en) * | 2017-12-15 | 2019-06-25 | 湘潭宏远电子科技有限公司 | The security performance detection method of high temperature pressure pipeline |
| CN109932429A (en) * | 2017-12-15 | 2019-06-25 | 湘潭宏远电子科技有限公司 | Foreign matter non-destructive testing device and method in a kind of high-temperature pipe |
| CN109932416A (en) * | 2017-12-15 | 2019-06-25 | 湘潭宏远电子科技有限公司 | A kind of Austenitic stainless steel pipe inner oxide lossless detection method and device |
| CN108132031B (en) * | 2017-12-18 | 2023-06-02 | 新疆维吾尔自治区特种设备检验研究院 | Ultrasonic detection device and method for in-service high-pressure gas storage cylinder group |
| CN108303458B (en) * | 2018-01-24 | 2021-10-22 | 肖香福 | Pipeline detection device that detects a flaw |
| CN108362644A (en) * | 2018-02-10 | 2018-08-03 | 浙江工业大学 | A kind of axis class, pipeline-like surface defects of parts detection device |
| CN108407909A (en) * | 2018-02-11 | 2018-08-17 | 常州轻工职业技术学院 | It detects a flaw outside pipeline walking robot |
| CN108775880A (en) * | 2018-08-07 | 2018-11-09 | 南京邮电大学 | Cable fault detection device based on ultrasonic transducer and application method |
| CN109079820A (en) * | 2018-09-11 | 2018-12-25 | 香港中文大学（深圳） | A kind of detection robot and its rack |
| CN109270086B (en) * | 2018-11-09 | 2023-08-11 | 成都熊谷油气科技有限公司 | Nondestructive internal detection device and detection method for pipeline girth weld |
| CN109668964B (en) * | 2019-01-29 | 2023-09-01 | 洋浦海科石化工程检测有限公司 | Pipeline scanning frame |
| CN109870508B (en) * | 2019-02-21 | 2021-04-23 | 徐金辉 | Pipeline detection crawling device |
| CN111664315A (en) * | 2019-03-05 | 2020-09-15 | 中国矿业大学(北京) | Anti-deflection device for pipeline robot |
| CN109764826B (en) * | 2019-03-12 | 2024-02-06 | 武汉冠油科技有限公司 | Detector for detecting appearance cross section shape of bridge inhaul cable at high speed |
| CN110346011B (en) * | 2019-07-19 | 2020-04-28 | 程思精 | Assembled flow probe |
| CN111208205B (en) * | 2020-04-01 | 2020-11-06 | 江苏新泰隆管件有限公司 | Ultrasonic pipeline flaw detection and marking equipment |
| CN111609250B (en) * | 2020-05-26 | 2021-11-30 | 创新电力技术(海南)有限公司 | Gas leakage detection device convenient to move |
| CN111823407A (en) * | 2020-07-15 | 2020-10-27 | 王建龙 | Pipe climbing and punching equipment for pipe clamp installation |
| CN112305071B (en) * | 2020-10-23 | 2022-07-12 | 齐鲁工业大学 | Guided wave detection tube external robot based on Mecanum wheel and working method thereof |
| CN112388244A (en) * | 2020-11-25 | 2021-02-23 | 瑞昌市森奥达科技有限公司 | Automatic alignment welding device for pipelines |
| CN112881511A (en) * | 2021-01-19 | 2021-06-01 | 昆明理工大学 | Method for identifying and detecting pipeline girth weld |
| CN113533521B (en) * | 2021-07-15 | 2024-04-19 | 山东沃克无损检测有限公司 | Automatic ultrasonic flaw detection device |
| CN114029288A (en) * | 2021-11-02 | 2022-02-11 | 中国建筑第八工程局有限公司 | Chute method anti-blocking dredging system and construction method thereof |
| CN114353703A (en) * | 2022-01-07 | 2022-04-15 | 长春希达电子技术有限公司 | Method and device for simply measuring splicing flatness of side light mode LED screen |
| CN114894907B (en) * | 2022-07-12 | 2022-09-20 | 欧米勒电气有限公司 | Transmission structure for pressure pipeline detection and detection device thereof |
| CN116593577B (en) * | 2023-07-18 | 2023-09-22 | 陇东学院 | Natural gas pipeline nondestructive inspection equipment |
| CN117823753B (en) * | 2024-03-06 | 2024-05-14 | 济宁市特种设备检验研究院 | Pipeline nondestructive testing crawling robot and detection method |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1248397A (en) * | 1967-12-27 | 1971-09-29 | Nat Res Dev | Equipment for radiography of pipelines and closed vessels |
| US3904878A (en) * | 1972-09-01 | 1975-09-09 | Xmas Inc | Pipeline crawler type x-ray machine |
| US4369713A (en) * | 1980-10-20 | 1983-01-25 | Transcanada Pipelines Ltd. | Pipeline crawler |
| CN2547447Y (en) * | 2002-06-17 | 2003-04-30 | 焦发兆 | Universal electric self-creeping tube-cutting machine |
| CN1281889C (en) * | 2003-12-29 | 2006-10-25 | 大连理工大学 | Crawling conduit creeper |
| US7594448B2 (en) * | 2007-11-08 | 2009-09-29 | Fabtec Solutions, Llc | Crawler for inspecting pipes |
| CN203176622U (en) * | 2013-04-12 | 2013-09-04 | 中广核检测技术有限公司 | Motion guide rail installed surrounding pipeline |
| CN203431506U (en) * | 2013-09-09 | 2014-02-12 | 长沙理工大学 | Electromagnetic ultrasonic automatic detection crawler for exposed pipeline |
-
2013
- 2013-09-09 CN CN201310404291.6A patent/CN103439415B/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108333307A (en) * | 2018-02-07 | 2018-07-27 | 苏州热工研究院有限公司 | A kind of turbine rotor welding point detecting system |
| CN108333307B (en) * | 2018-02-07 | 2021-01-01 | 苏州热工研究院有限公司 | Steam turbine rotor welded joint detecting system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103439415A (en) | 2013-12-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103439415B (en) | Electromagnetic ultrasonic automatic detection crawler for exposed pipeline | |
| CN203431506U (en) | Electromagnetic ultrasonic automatic detection crawler for exposed pipeline | |
| CN101046466A (en) | Subsea oil and gas pipeline detecting and locating apparatus and process | |
| Wang et al. | Development of an autonomous in‐pipe robot for offshore pipeline maintenance | |
| US11415566B2 (en) | Methods utilizing a tethered buoyant body to retrieve a mobile platform from a tank containing a hazardous substance | |
| CN207584272U (en) | A kind of pipeline inspecting robot | |
| CN102759564B (en) | A kind of variable diameter pipe external magnetic memory detection device | |
| CN111649192A (en) | Pipeline inspection robot | |
| CN103115245B (en) | Pipeline detection device based on piezomagnetic effect | |
| WO2020065659A1 (en) | Spherical robot for internal inspection of pipelines | |
| KR102277025B1 (en) | Pipe inspection robot and pipe inspection method using the same | |
| CN111043445B (en) | Detection vehicle in pipeline | |
| CN207298394U (en) | Submarine pipeline detects robot | |
| CN203465241U (en) | Nondestructive testing device for pipeline | |
| CN211502354U (en) | Automatic ultrasonic internal detection equipment for pressure pipeline | |
| CN203026175U (en) | Weld joint inspection tool for pipeline and container in narrow space | |
| US20230065362A1 (en) | Pipeline suspension inspecting gauge | |
| CN205580395U (en) | Oil gas pipeline wall thickness monitoring devices | |
| CN114484144A (en) | Underground pipeline detection trolley based on ultrasonic principle and control method thereof | |
| CA3136306C (en) | Methods for performing tasks inherently safely in a tank containing hazardous substances | |
| CN209764037U (en) | Thickness measuring device used in pipeline | |
| CN210180998U (en) | Detector in oil gas pipeline | |
| CN218094928U (en) | Pipeline detection robot based on helical scanning | |
| CN217130722U (en) | Nondestructive test equipment suitable for inside pipeline | |
| Zhang et al. | Research of Trenchless Detection Technology and Equipment of Small-Caliber Buried Oil and Gas Pipeline |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200416 Address after: 361000 unit 1103-3, No. 59, Chengyi North Street, phase III, software park, Xiamen City, Fujian Province Patentee after: Xianyi (Xiamen) Intelligent Technology Co.,Ltd. Address before: Wanjiali road 410114 in Hunan province Changsha Yuhua District, 2 No. 960 Patentee before: CHANGSHA University OF SCIENCE AND TECHNOLOGY |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150408 Termination date: 20210909 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |