CN105675011A - Automatic traction device and method for electric pipeline track measuring instrument - Google Patents
Automatic traction device and method for electric pipeline track measuring instrument Download PDFInfo
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- CN105675011A CN105675011A CN201610132529.8A CN201610132529A CN105675011A CN 105675011 A CN105675011 A CN 105675011A CN 201610132529 A CN201610132529 A CN 201610132529A CN 105675011 A CN105675011 A CN 105675011A
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- traction device
- power pipe
- automatic traction
- measurement instrument
- pulley
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
Abstract
The invention discloses an automatic traction device for an electric pipeline track measuring instrument. The automatic traction device comprises a power winding mechanism, a friction resistance supplying mechanism, a speed monitoring mechanism and a pressure monitoring mechanism, wherein the power winding mechanism is provided with a winding barrel and a traction rope; a fixed end of the traction rope is fixedly combined with the winding barrel; a traction end of the traction rope is fixedly combined with the track measuring instrument, and the winding barrel is rotated to wind or loosen the traction rope, so that the track measuring instrument is driven to move in an electric pipeline; the friction resistance supplying mechanism is used for selectively supplying rotary friction resistance to the winding barrel; the speed monitoring mechanism is used for monitoring a traction speed of the traction rope; and the pressure monitoring mechanism is used for monitoring the size of a tensile force of the traction rope. The invention further discloses a method of the device. The automatic traction device for the electric pipeline track measuring instrument has the advantages of simple structure and automatic operation, is driven and controlled by electric power to alleviate the labor intensity of operators and can meet the measurement requirements of long-distance pipelines under severe environmental conditions.
Description
Technical field
The present invention relates to measuring pipeline track field, particularly relate to a kind of automatic traction device for power pipe trajectory measurement instrument and method.
Background technology
The development of underground electric pipeline, it is desirable to accurately grasp its three-dimensional track. Start to present to the special measurement work of underground piping track, existing a kind of pawl that plays has the records of distance by the log the Tracing instrument of wheel form for this cause, such as, CN104567914A disclosed " a kind of pipeline Tracing instrument being provided with novel wheel of having the records of distance by the log ", CN104567915A disclosed " even wheels have the records of distance by the log interior receipts righting claw pipeline Tracing instrument ", but the design form etc. being limited by this apparatus structure limits to, the operation of instrument mainly still requires artificial stay cord, and need operator rope closing end with put end and communicate with each other and just can complete to measure. Being not difficult to find out, above-mentioned also existing uses inconvenience, complex operation and the shortcoming that affects accuracy of instrument. Measuring especially for long distance line, manpower traction cannot meet the instructions for use of this type of Tracing instrument, and manpower traction's is at the uniform velocity unobvious on the impact of trajectory measurement with Caton phenomenon. Again or adopt hot-melt adhesive paste mode pipeline, often there is bigger projection in crator place, the rope elastic deformation that manpower traction causes very easily forms moment high acceleration, Tracing instrument is impacted destruction, even cord break causes pipeline to scrap, there is huge potential safety hazard, mapping operations and national property are caused immeasurable loss, limit application and the development of underground pipeline survey technology. In view of above-mentioned, it would be highly desirable to design a kind of novel device that can substitute manpower traction.
Summary of the invention
It is an object of the invention to overcome the problem of manpower traction in prior art, it is provided that a kind of novel automatic traction device for power pipe trajectory measurement instrument.
In order to realize this purpose, technical scheme is as follows: a kind of automatic traction device for power pipe trajectory measurement instrument, includes,
Power hoisting mechanism, it has elevator cylinder and drag rope, described drag rope has fixing end and traction end, the fixing end of described drag rope is combined permanently with described elevator cylinder, the traction end of described drag rope is in order to be combined permanently with described trajectory measurement instrument, with winding or loosen described drag rope by rotating described elevator cylinder, and then drive described trajectory measurement instrument in described power pipe internal shift;
Frictional resistance provides mechanism, and it is in order to optionally to provide rotation frictional resistance to described elevator cylinder;
Speed monitoring mechanism, it is in order to monitor the hauling speed of described drag rope; And,
Pressure monitoring mechanism, it is in order to monitor the pulling force size of described drag rope.
Preferred version as a kind of automatic traction device for power pipe trajectory measurement instrument, described power hoisting mechanism also has buncher, decelerator and shaft coupling, described elevator cylinder has cylinder rotating shaft, the motor shaft of described buncher is combined permanently with the power shaft of described decelerator, and the output shaft of described decelerator is combined with described cylinder rotating shaft permanently by described shaft coupling.
Preferred version as a kind of automatic traction device for power pipe trajectory measurement instrument, described power hoisting mechanism also has elastic sheet, described elastic sheet is adjacent to described elevator cylinder, and described elastic sheet provides thrust to the drag rope on described elevator cylinder.
Preferred version as a kind of automatic traction device for power pipe trajectory measurement instrument, described frictional resistance provides mechanism to have disk brake pad, fixed friction part and adjustable friction part, described fixed friction part and described adjustable friction part are respectively at the both sides of described disk brake pad, described fixed friction part system fixes and described fixed friction part is relative with described disk brake pad secondary to form fixed friction, movable and the described adjustable friction part of described adjustable friction part system is relative to described disk brake pad to form movable friction pair, by the distance changed between described fixed friction part and described adjustable friction part, to realize the control of the size to described rotation frictional resistance.
Preferred version as a kind of automatic traction device for power pipe trajectory measurement instrument, described frictional resistance provides mechanism also to have unidirectional flywheel, described unidirectional flywheel is combined in coaxial fashion permanently with described elevator cylinder, and described disk brake pad is also combined in coaxial fashion permanently with described unidirectional flywheel.
Preferred version as a kind of automatic traction device for power pipe trajectory measurement instrument, described speed monitoring mechanism has rotary encoder and test axle, described test axle and described elevator cylinder are coaxially disposed, and described rotary encoder is in order to monitor described test axle.
Preferred version as a kind of automatic traction device for power pipe trajectory measurement instrument, described pressure monitoring mechanism has the first pulley, second pulley, 3rd pulley and pressure transmitter, described first pulley, described second pulley and described 3rd pulley arrangement become isosceles triangle, described first pulley and described 3rd pulley are in point at the bottom of bottom forms two of isosceles triangle, described second pulley is in top and forms a summit of isosceles triangle, described first pulley, described second pulley and described 3rd pulley are wound with described drag rope, described pressure transmitter is in order to monitor the vertical stressing conditions of described second pulley.
A kind of method that present invention also offers automatic traction device for power pipe trajectory measurement instrument, utilizes the method to shift back and forth in power pipe to draw track measuring instrument, comprises the steps of,
Step 1, it is provided that two above-mentioned automatic traction devices, respectively the first automatic traction device and the second automatic traction device, described first automatic traction device and described second automatic traction device are respectively arranged at head end and the end of described power pipe;
Step 2, is preset with, in described power pipe, rope of precoating, described in rope of precoating begin to extend to its end from the head end of described power pipe;
Step 3, the traction end of the described drag rope in described second automatic traction device is combined permanently with described rope of precoating, described rope of precoating is pulled out from the head end of described power pipe so that the traction end of the described drag rope in described second automatic traction device begins to move in described power pipe the head end of described power pipe from the end of described power pipe;
Step 4, the combination that the traction end of the described drag rope in the traction end of the described drag rope in described first automatic traction device and described second automatic traction device is fixed with the opposite end of described trajectory measurement instrument respectively;
Step 5, inserts in described power pipe by described trajectory measurement instrument from the head end of described power pipe;
Step 6, move to the process of its end at described trajectory measurement instrument from the head end of described power pipe, power hoisting mechanism in described first automatic traction device is set as, and passive duty the frictional resistance enabling in described first automatic traction device provide mechanism, and the power hoisting mechanism in described second traction apparatus is set as, and active state is to pull described trajectory measurement instrument in described power pipe internal shift;
Step 7, move in the process of its head end at described trajectory measurement instrument from the end of described power pipe, power hoisting mechanism in described second automatic traction device is set as, and passive duty the frictional resistance enabling in described second automatic traction device provide mechanism, and the power hoisting mechanism in described first traction apparatus is set as, and active state is to pull described trajectory measurement instrument in described power pipe internal shift; And,
Step 8, repeats step 6 ~ 7, to complete trajectory measurement.
The preferred version of a kind of method according to automatic traction device for power pipe trajectory measurement instrument, in step 6, according to the situation that the pressure monitoring mechanism in described second traction apparatus is monitored, change the hauling speed of power hoisting mechanism in described second traction apparatus; In step 7, according to the situation that the pressure monitoring mechanism in described first traction apparatus is monitored, change the hauling speed of power hoisting mechanism in described first traction apparatus.
Compared with prior art, advantages of the present invention at least that:
(1) simple in construction, automation mechanized operation, rely on driven by power to control, alleviate the labor intensity of operator, meet the measurement requirement of long-distance pipe, bad environments condition elder generation.
(2) speed is steady, and velocity perturbation is little, can reduce the measurement error precision of Tracing instrument further;
(3) stressing conditions of rope in detection in real time, monitoring and recording track instrument running;
(4) this operation field requires simple, it is necessary to space is few.
Accompanying drawing explanation
Fig. 1 is the structural representation front view of one embodiment of the invention.
Fig. 2 is the structural representation side view of one embodiment of the invention.
Fig. 3 is the use schematic diagram of one embodiment of the invention.
Detailed description of the invention
The present invention is described in further detail in conjunction with accompanying drawing below by specific embodiment.
Refer to Fig. 1, shown in 2 and 3, figure be a kind of automatic traction device, it is adaptable to use environment to construct at Horizontal Directional Drilling, M-PP and the PE pipeline of hot-melt adhesive paste by the trajectory measurement instrument 6 of external force traction formula. The structure of automatic traction device is mainly provided mechanism 2, speed monitoring mechanism 3 and pressure monitoring mechanism 4 etc. to form by power hoisting mechanism 1, frictional resistance.
Described power hoisting mechanism 1 is in order to draw described trajectory measurement instrument 6. Described power hoisting mechanism 1 has elevator cylinder 11, buncher 14, decelerator 15, shaft coupling 16 and drag rope 12. Wherein, the motor shaft of described buncher 14 is combined permanently with the power shaft of described decelerator 15. Described elevator cylinder 11 has cylinder rotating shaft. The output shaft of described decelerator 15 is combined with described cylinder rotating shaft permanently by described shaft coupling 16. Described buncher 14 can described buncher 14 integral with decelerator 15 structure can speed governing. With said structure, described buncher 14 can drive described elevator cylinder 11 with described cylinder rotating shaft for axis rotation. Described drag rope 12 has fixing end and traction end. The fixing end of described drag rope 12 is combined permanently with described elevator cylinder 11, and the traction end of described drag rope 12 is in order to be combined permanently with described trajectory measurement instrument 6. With winding or loosen described drag rope 12 by rotating described elevator cylinder 11, and then described trajectory measurement instrument 6 can be driven in described power pipe 5 internal shift. In order to ensure row's rope, described power hoisting mechanism 1 also has elastic sheet 13, and described elastic sheet 13 is adjacent to described elevator cylinder 11 and is in that side away from described traction end. Described elastic sheet 13 self installation base begins to the described upwardly directed bending extension of elevator cylinder 11, i.e. described elastic sheet 13 entirety is to described traction end projection. And, described elastic sheet 13 offsets with the described drag rope 12 on described elevator cylinder 11 and in tangent setting so that described elastic sheet 13 can be pressed in the drag rope 12 on described elevator cylinder 11.
Described frictional resistance provides mechanism 2 in order to optionally to provide rotation frictional resistance to described elevator cylinder 11. Described frictional resistance provides mechanism 2 to have unidirectional flywheel 22, disk brake pad 21, fixed friction part 23 and adjustable friction part 24. Described unidirectional flywheel 22 only single direction rotation. Described unidirectional flywheel 22 is combined in coaxial fashion permanently with described elevator cylinder 11. Again, described disk brake pad 21 is also combined in coaxial fashion permanently with described unidirectional flywheel 22. In the present embodiment, when described elevator cylinder 11 rotates forward (that is, traction, described power hoisting mechanism 1 has the initiative duty), described unidirectional flywheel 22 does not rotate with it. And (that is, put rope, described power hoisting mechanism 1 is in passive duty) when described elevator cylinder 11 rotates backward, described unidirectional flywheel 22 is with rotating with it, and described disk brake pad 21 is synchronize all the time with described unidirectional flywheel 22. Described fixed friction part 23 and described adjustable friction part 24 are respectively at the both sides of described disk brake pad 21. Described fixed friction part 23 be fixing (such as, fixed mount fixing) and described fixed friction part 23 relative with a work surface of described disk brake pad 21 secondary to form fixed friction. Described adjustable friction part 24 be activity (such as adjustable shelf is fixed, by adjusting the movable bolt displacement on adjustable shelf) and described adjustable friction part 24 relative to another work surface of described disk brake pad 21 to form activity friction pair. By the distance changed between described fixed friction part 23 and described adjustable friction part 24, to realize the control to described frictional resistance size, the more big frictional resistance of distance is more little, regulates as required.
Described speed monitoring mechanism 3 is in order to monitor the hauling speed of described drag rope 12.Described speed monitoring mechanism 3 has rotary encoder 31 and test axle 32. Described test axle 32 is combined with described cylinder rotating shaft with described test axle 32 permanently by shaft coupling, to realize synchronous axial system. The rotating speed of described test axle 32 measured by described rotary encoder 31, and then reckoning can obtain described hauling speed.
Described pressure monitoring mechanism 4 is in order to monitor the pulling force size of described drag rope 12. Described pressure monitoring mechanism 4 has the first pulley the 41, second pulley the 42, the 3rd pulley 43 and pressure transmitter 44. Described first pulley 41, described second pulley 42 and described 3rd pulley 43 constitute isosceles triangle distribution. Described first pulley 41 and described 3rd pulley 43 are in bottom and are arranged on installation pedestal (both constitute the base of isosceles triangle), and described second pulley 42 is in top. Described first pulley 41, described second pulley 42 and described 3rd pulley 43 are wound with drag rope described in described drag rope 12(and sequentially pass through first pulley the 41, second pulley the 42, the 3rd pulley 43). Described pressure transmitter 44 is in order to monitor the vertical stressing conditions of described second pulley 42, and then extrapolates the pulling force of described drag rope 12.
The using method of above-mentioned automatic traction device, comprises the steps of,
Step 1, two automatic traction devices are provided, respectively the first automatic traction device 100 and the second automatic traction device 101, described first automatic traction device 100 and described second automatic traction device 101 are respectively arranged at head end and the end of described power pipe 5.
Step 2, is preset with, in described power pipe 5, rope of precoating, described in rope of precoating begin to extend to its end from the head end of described power pipe 5.
Step 3, the traction end of the described drag rope 12 in described second automatic traction device 101 is combined permanently with described rope of precoating, described rope of precoating is pulled out from the head end of described power pipe 5 so that the traction end of the described drag rope 12 in described second automatic traction device 101 begins to move in described power pipe 5 head end of described power pipe 5 from the end of described power pipe 5.
Step 4, the combination that the traction end of the described drag rope 12 in the traction end of the described drag rope 12 in described first automatic traction device 100 and described second automatic traction device 101 is fixed with the opposite end of described trajectory measurement instrument 6 respectively.
Step 5, inserts described trajectory measurement instrument 6 in described power pipe 5 from the head end of described power pipe 5.
Step 6, move to the process of its end at described trajectory measurement instrument 6 from the head end of described power pipe 5, power hoisting mechanism 1 in described first automatic traction device 100 is set as, and passive duty the frictional resistance enabling in described first automatic traction device 100 provide mechanism 2, and the power hoisting mechanism 1 in described second traction apparatus is set as, and active state is to pull described trajectory measurement instrument 6 in described power pipe 5 internal shift. According to the situation that the pressure monitoring mechanism 4 in described second traction apparatus is monitored, change the hauling speed of power hoisting mechanism 1 in described second traction apparatus.
Step 7, move in the process of its head end at described trajectory measurement instrument 6 from the end of described power pipe 5, power hoisting mechanism 1 in described second automatic traction device 101 is set as, and passive duty the frictional resistance enabling in described second automatic traction device 101 provide mechanism 2, and the power hoisting mechanism 1 in described first traction apparatus is set as, and active state is to pull described trajectory measurement instrument 6 in described power pipe 5 internal shift.According to the situation that the pressure monitoring mechanism 4 in described first traction apparatus is monitored, change the hauling speed of power hoisting mechanism 1 in described first traction apparatus.
Step 8, repeats step 6 ~ 7, to complete trajectory measurement.
Below only have expressed embodiments of the present invention, it describes comparatively concrete and detailed, but can not therefore be construed as limiting the scope of the patent. It should be pointed out that, for the person of ordinary skill of the art, without departing from the inventive concept of the premise, it is also possible to making some deformation and improvement, these broadly fall into protection scope of the present invention. Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (9)
1. the automatic traction device for power pipe trajectory measurement instrument, it is characterised in that include,
Power hoisting mechanism, it has elevator cylinder and drag rope, described drag rope has fixing end and traction end, the fixing end of described drag rope is combined permanently with described elevator cylinder, the traction end of described drag rope is in order to be combined permanently with described trajectory measurement instrument, with winding or loosen described drag rope by rotating described elevator cylinder, and then drive described trajectory measurement instrument in described power pipe internal shift;
Frictional resistance provides mechanism, and it is in order to optionally to provide rotation frictional resistance to described elevator cylinder;
Speed monitoring mechanism, it is in order to monitor the hauling speed of described drag rope; And,
Pressure monitoring mechanism, it is in order to monitor the pulling force size of described drag rope.
2. a kind of automatic traction device for power pipe trajectory measurement instrument according to claim 1, it is characterized in that, described power hoisting mechanism also has buncher, decelerator and shaft coupling, described elevator cylinder has cylinder rotating shaft, the motor shaft of described buncher is combined permanently with the power shaft of described decelerator, and the output shaft of described decelerator is combined with described cylinder rotating shaft permanently by described shaft coupling.
3. a kind of automatic traction device for power pipe trajectory measurement instrument according to claim 1 and 2, it is characterized in that, described power hoisting mechanism also has elastic sheet, described elastic sheet is adjacent to described elevator cylinder, and described elastic sheet provides thrust to the drag rope on described elevator cylinder.
4. a kind of automatic traction device for power pipe trajectory measurement instrument according to claims 1 to 3, it is characterized in that, described frictional resistance provides mechanism to have disk brake pad, fixed friction part and adjustable friction part, described fixed friction part and described adjustable friction part are respectively at the both sides of described disk brake pad, described fixed friction part system fixes and described fixed friction part is relative with described disk brake pad secondary to form fixed friction, movable and the described adjustable friction part of described adjustable friction part system is relative to described disk brake pad to form movable friction pair, by the distance changed between described fixed friction part and described adjustable friction part, to realize the control of the size to described rotation frictional resistance.
5. a kind of automatic traction device for power pipe trajectory measurement instrument according to claim 4, it is characterized in that, described frictional resistance provides mechanism also to have unidirectional flywheel, described unidirectional flywheel is combined in coaxial fashion permanently with described elevator cylinder, and described disk brake pad is also combined in coaxial fashion permanently with described unidirectional flywheel.
6. a kind of automatic traction device for power pipe trajectory measurement instrument according to claim 1 to 5, it is characterized in that, described speed monitoring mechanism has rotary encoder and test axle, described test axle and described elevator cylinder are coaxially disposed, and described rotary encoder is in order to monitor described test axle.
7. a kind of automatic traction device for power pipe trajectory measurement instrument according to claim 1 to 6, it is characterized in that, described pressure monitoring mechanism has the first pulley, second pulley, 3rd pulley and pressure transmitter, described first pulley, described second pulley and described 3rd pulley arrangement become isosceles triangle, described first pulley and described 3rd pulley are in point at the bottom of bottom forms two of isosceles triangle, described second pulley is in top and forms a summit of isosceles triangle, described first pulley, described second pulley and described 3rd pulley are wound with described drag rope, described pressure transmitter is in order to monitor the vertical stressing conditions of described second pulley.
8., for a method for the automatic traction device of power pipe trajectory measurement instrument, utilize the method to shift back and forth in power pipe to draw track measuring instrument, it is characterised in that to comprise the steps of,
Step 1, automatic traction device described in two claim 1 to 7 is provided, respectively the first automatic traction device and the second automatic traction device, described first automatic traction device and described second automatic traction device are respectively arranged at head end and the end of described power pipe;
Step 2, is preset with, in described power pipe, rope of precoating, described in rope of precoating begin to extend to its end from the head end of described power pipe;
Step 3, the traction end of the described drag rope in described second automatic traction device is combined permanently with described rope of precoating, described rope of precoating is pulled out from the head end of described power pipe so that the traction end of the described drag rope in described second automatic traction device begins to move in described power pipe the head end of described power pipe from the end of described power pipe;
Step 4, the combination that the traction end of the described drag rope in the traction end of the described drag rope in described first automatic traction device and described second automatic traction device is fixed with the opposite end of described trajectory measurement instrument respectively;
Step 5, inserts in described power pipe by described trajectory measurement instrument from the head end of described power pipe;
Step 6, move to the process of its end at described trajectory measurement instrument from the head end of described power pipe, power hoisting mechanism in described first automatic traction device is set as, and passive duty the frictional resistance enabling in described first automatic traction device provide mechanism, and the power hoisting mechanism in described second traction apparatus is set as, and active state is to pull described trajectory measurement instrument in described power pipe internal shift;
Step 7, move in the process of its head end at described trajectory measurement instrument from the end of described power pipe, power hoisting mechanism in described second automatic traction device is set as, and passive duty the frictional resistance enabling in described second automatic traction device provide mechanism, and the power hoisting mechanism in described first traction apparatus is set as, and active state is to pull described trajectory measurement instrument in described power pipe internal shift; And,
Step 8, repeats step 6 ~ 7, to complete trajectory measurement.
9. the method for a kind of automatic traction device for power pipe trajectory measurement instrument according to claim 8, in step 6, according to the situation that the pressure monitoring mechanism in described second traction apparatus is monitored, change the hauling speed of power hoisting mechanism in described second traction apparatus;
In step 7, according to the situation that the pressure monitoring mechanism in described first traction apparatus is monitored, change the hauling speed of power hoisting mechanism in described first traction apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610132529.8A CN105675011A (en) | 2016-03-09 | 2016-03-09 | Automatic traction device and method for electric pipeline track measuring instrument |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610132529.8A CN105675011A (en) | 2016-03-09 | 2016-03-09 | Automatic traction device and method for electric pipeline track measuring instrument |
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| CN105675011A true CN105675011A (en) | 2016-06-15 |
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| CN201610132529.8A Pending CN105675011A (en) | 2016-03-09 | 2016-03-09 | Automatic traction device and method for electric pipeline track measuring instrument |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107045152A (en) * | 2016-11-18 | 2017-08-15 | 安徽伊法拉电气有限公司 | Automatic traction device for power pipe trajectory measurement instrument |
| CN107907133A (en) * | 2017-11-15 | 2018-04-13 | 湖北工业大学 | A kind of mouth of pipe is had the records of distance by the log glding type small diameter pipeline trajectory measurement instrument |
| CN113155066A (en) * | 2021-04-21 | 2021-07-23 | 东莞市水利勘测设计院有限公司 | Gas buried pipeline positioning and measuring equipment and method |
-
2016
- 2016-03-09 CN CN201610132529.8A patent/CN105675011A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107045152A (en) * | 2016-11-18 | 2017-08-15 | 安徽伊法拉电气有限公司 | Automatic traction device for power pipe trajectory measurement instrument |
| CN107907133A (en) * | 2017-11-15 | 2018-04-13 | 湖北工业大学 | A kind of mouth of pipe is had the records of distance by the log glding type small diameter pipeline trajectory measurement instrument |
| CN113155066A (en) * | 2021-04-21 | 2021-07-23 | 东莞市水利勘测设计院有限公司 | Gas buried pipeline positioning and measuring equipment and method |
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