CN108036711A - Foam geometry caliper is used in a kind of pipeline - Google Patents

Foam geometry caliper is used in a kind of pipeline Download PDF

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Publication number
CN108036711A
CN108036711A CN201810053562.0A CN201810053562A CN108036711A CN 108036711 A CN108036711 A CN 108036711A CN 201810053562 A CN201810053562 A CN 201810053562A CN 108036711 A CN108036711 A CN 108036711A
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CN
China
Prior art keywords
foam
pipeline
caliper
pigging
pressure sensor
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.)
Pending
Application number
CN201810053562.0A
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Chinese (zh)
Inventor
宋华东
王宇楠
刘光恒
郭晓婷
徐春风
杨亮
诸海博
宋云鹏
李上青
马轶男
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Shenyang Academy of Instrumentation Science Co Ltd
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Shenyang Academy of Instrumentation Science Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
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Application filed by Shenyang Academy of Instrumentation Science Co Ltd filed Critical Shenyang Academy of Instrumentation Science Co Ltd
Priority to CN201810053562.0A priority Critical patent/CN108036711A/en
Publication of CN108036711A publication Critical patent/CN108036711A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/12Measuring arrangements characterised by the use of electric or magnetic techniques for measuring diameters
    • G01B7/13Internal diameters

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Sewage (AREA)

Abstract

The application, which provides, uses foam geometry caliper in a kind of pipeline, when being run in foam pigging portion in pipeline, the deformation produced using the multiple pickup arms for being arranged on foam pigging portion end, deformation quantity is converted into electric signal by the pressure sensor of pickup arm and sends circuit board assemblies to, handled again by circuit board assemblies, it can detect that the diameter dimension of pipeline, and record the roughness of pipeline interior surface.By judging that deformation quantity decides whether to carry out pigging operation again, to reach testing requirements, to avoid subsequently launching the generation of internal detector blocking phenomenon.And pickup arm can be dismantled with foam pigging portion, improved flexibility and be convenient for changing again.This foam geometry caliper integrates the inexpensive and common detector of general wiper and calibrates function, is changed by observing internal diameter in advance, can reduce the risk of pipeline detection and certain economic loss.

Description

Foam geometry caliper is used in a kind of pipeline
Technical field
This application involves pipeline detection field, more particularly to foam geometry caliper.
Background technology
Pipeline infrastructure is vulnerable to degeneration injury, including fault of construction, life problems (burn into creep, cracking etc. very much Deng), third party's injury and the influence (earthquake, jump in temperature, strong water flow fluctuation etc.) of temperature, environment.Except causing weight Outside big economic loss, the breakage of oil and gas pipeline has also indicated main environmental hazard and the potential threat to life, because This must be prevented by effective pipeline integrity management system.Rational Maintenance of these measures including pipeline and cleaning are kept away Exempt from line clogging, and inner and outer pipes road state is evaluated by periodic Non-Destructive Testing, had found that it is likely that before causing puzzlement the defects of And endanger to keep the normal operation of pipeline.
Pipeline detection instrument (common name detector) can be cleared up but also detected, and key is played in pipeline infrastructure management Effect.In terms of current pipe detection, pigging and detection are to be responsible for respectively by two kinds of entirely different instruments:Wiper and pipeline Internal detector.
Wiper is used to remove accumulation in debris and pipeline, has many types to include different shapes, material and density. Foam and polyurethane wiper can be easy to because its is yielding by multipath and curved pipeline, very suitable to removing accumulation With.Mandrel type wiper replaces component (such as seal disc, leather cup, various steel brushes, survey by metal (such as stainless steel) main body and easily Template and the magnet that metal object in pipeline can be removed) composition, and have longer service life.Repeatedly to be carried out due to pigging and Harsh pipeline condition, wiper must be solid and cheap for the maximum expenditure for reducing product and process.
Otherwise internal detector is complex instrument, including complicated airborne body, sensing system, signal acquiring system, positioning system System etc., often cost is in hundreds of even up to ten million members with internal detector for Tianwan businessman's industry, and internal detector is not only bulky, but also There are strict requirements to conduit running environment, pipeline detection construction is excessive risk, a Gao Cheng for pipeline operator This operation behavior.So exploitation it is a kind of low cost, low-risk, to greatest extent substitute traditional sense internal detector equipment work( The novel pipeline internal detector of energy is extremely urgent.
The operation principle of existing wiper is in the pipeline for being intended to operation, and respective series are first inserted by the requirement of operation Wiper is used for cleaning work early period.The extension of pipe cleaner rubber cup and inner-walls of duct elastic packing, the pressure produced with pipeline medium Difference is power, promotes wiper along conduit running, by wiper itself or its scraping with equipment and souring disappear Except the fouling in pipeline or deposit, the inner case of pipeline is detected by a series of interior detection device again afterwards.
But pipeline easily occurs to corrode and get rusty, sediment pile by using for a long time, inside pipeline, when rusty stain is more With the more obstinate cleaning of other deposits it is incomplete when, easily produce the internal detector that subsequently puts into and blocking phenomenon occur, so that shadow Ring the process of whole vivo detection, will seriously lead to not be detected pipeline, collect data distortion, and cause claim for eot with Certain economic loss.
The content of the invention
This application provides foam geometry caliper is used in a kind of pipeline, diameter measurer is added based on general wiper, Make it just can detect its internal diameter in early period pigging process to change.Solve since rust corrosion and deposition easily occurring inside pipeline Thing is accumulated, and when rusty stain is more or the more obstinate cleaning of other deposits is not exclusively remaining more, is easily produced detection in follow-up and is set Preparation gives birth to blocking phenomenon, so that the process of detection is influenced, the problem of seriously leading to not be detected pipeline, and subsequently The more accurate costliness of pipe detector of input, can cause larger economic loss.
The application provides and foam geometry caliper is used in a kind of pipeline, including foam pigging portion, connecting portion and test section;
The end in the foam pigging portion is formed with test section by connecting portion and is detachably connected;
The test section includes supporting rod;
One end of the supporting rod is connected with the connecting portion;
The other end of the supporting rod is equipped with multiple pickup arms;
Each pickup arm is equipped with pressure sensor;
Part on the supporting rod close to the pickup arm is equipped with circuit board housing;
The circuit board housing is equipped with circuit board assemblies;
The pressure sensor is connected with the circuit board assemblies;
Each pickup arm includes sensing arm body and foil gauge;
The sensing arm body is made of stainless steel material;
The sensing arm body includes bending section and transition part;
Slot is equipped with the transition part and bending section, the transition is inserted into one end of the foil gauge by the slot In portion and bending section, the other end is positioned at the outside of the sensing arm body;
The bending section is bent along the central axes direction away from the supporting rod, forms expansion form;
The transition part is bent relative to bending section along close to the central axes direction of the supporting rod,;
The foil gauge is located at outside the transition part to be extended along the bending direction of the transition part.
Further, the foil gauge of multiple pickup arms is located at end outside transition part in same level, and And form circumference;The diameter of the circumference is bigger than pipe diameter by 5%.
Further, the foil gauge includes matrix, metal foil grid and lead division;
The metal foil grid installation is on the matrix;
One end of the lead division is connected with one end of the metal foil grid;
Described matrix is inserted into the transition part and bending section by the slot;
The lead division is located at the outside of the transition part.
Further, the foil gauge further includes insulation protection piece;The insulation protection piece be wrapped in the lead division with The outside of metal foil grid junction.
Further, the connecting portion is connecting flange;
The connecting flange is installed on the middle part of the end in the foam pigging portion;
The supporting rod is connected with the middle part of the connecting flange.
Further, the deformation quantity of the pickup arm is 40%.
Further, the circuit board assemblies include three axis accelerators, clock circuit, data storage, pressure sensor Signal acquisition circuit, the first A/D conversion circuits, the 2nd A/D conversion circuits, data storage and main controller;
Each input terminal of the pressure sensor with the pressure sensor Acquisition Circuit is connected;
The output terminal of the pressure sensor Acquisition Circuit is connected by the first A/D conversion circuits and the main controller Connect;
The output terminal of the three axis accelerator is connected by the 2nd A/D conversion circuits with the main controller;
The output terminal of the clock circuit is connected with the main controller;
The main controller is connected with the data storage;
The main controller is used for the pressure data and three axis accelerators for gathering the pressure sensor signal acquisition circuit The station-keeping data of collection is matched with corresponding time data, generates data pair, and be sent to the data storage.
Further, the main controller is additionally operable to according to default time threshold, control the first A/D conversion circuits and 2nd A/D conversion circuit conversion speeds.
From above technical scheme, the application, which provides, uses foam geometry caliper in a kind of pipeline, in foam pigging portion When being run in pipeline, using the deformation for the multiple pickup arms generation for being arranged on foam pigging portion end, deformation quantity is passed through into biography The pressure sensor of sense arm is converted to electric signal and sends circuit board assemblies to, then is handled by circuit board assemblies, can detect that The diameter dimension of pipeline, and pipeline inner surface data is recorded, since the curvature of the bending section of pickup arm is larger, make pickup arm Deformation quantity increase, so as to effectively avoid the situation of testing equipment blocking in follow-up from occurring, and pickup arm can be with foam pigging Portion dismantles, and improves the flexibility used, and the low cost compared with general pipe detector, remains general foam pigging The advantages of device cost is low.
Brief description of the drawings
In order to illustrate more clearly of the technical solution of the application, letter will be made to attached drawing needed in the embodiment below Singly introduce, it should be apparent that, for those of ordinary skills, without having to pay creative labor, Other attached drawings can also be obtained according to these attached drawings.
Fig. 1 is the structure diagram that foam geometry caliper is used in a kind of pipeline that the application provides;
Fig. 2 is the structure diagram of pickup arm;
Fig. 3 is the structure diagram of foil gauge;
Fig. 4 is the circuit diagram that foam geometry caliper is used in a kind of pipeline that the application provides.
Wherein, 1- foams pigging portion, 2- connecting portions, 3- supporting rods, 4- circuit board housings, 5- pickup arms, 51- bending sections, 52- transition parts, 53- foil gauges, 531- matrixes, 532- metal foil grid, 533- insulation protection pieces, 534- lead divisions, 6- circuit boards Component, 61- pressure sensor signal acquisition circuits, tri- axis accelerators of 62-, 63- clock circuits, 64- data storages, 65- One A/D conversion circuits, the 2nd A/D conversion circuits of 66-, 67- main controllers, 68- driving power circuits, 7- pressure sensors.
Embodiment
Referring to Fig. 1 to Fig. 3, the embodiment of the present application provides and foam geometry caliper is used in a kind of pipeline, including foam pigging Portion 1, connecting portion 2 and test section;
The end in the foam pigging portion 1 is formed with test section by connecting portion 2 and is detachably connected;
The test section includes supporting rod 3;
One end of the supporting rod 3 is connected with the connecting portion 2;
The other end of the supporting rod 3 is equipped with multiple pickup arms 5;
Each pickup arm 5 is equipped with pressure sensor 7;
Part on the supporting rod 3 close to the pickup arm 5 is equipped with circuit board housing 4;
The circuit board housing 4 is equipped with circuit board assemblies 6;
The pressure sensor 7 is connected with the circuit board assemblies 6;
Each pickup arm 5 includes sensing arm body and foil gauge 53;
The sensing arm body is made of stainless steel material;
The sensing arm body includes bending section 51 and transition part 52;
Slot is equipped with the bending section 51 and transition part 52, institute is inserted into one end of the foil gauge 53 by the slot State in transition part 52 and bending section 51, the other end is located at the outside of 5 body of pickup arm;
The bending section 51 is bent along the central axes direction away from the supporting rod 3, forms expansion form;
The transition part 52 is bent relative to bending section 51 along close to the central axes direction of the supporting rod 3,;
The foil gauge 53 is located at outside the transition part 52 to be extended along the bending direction of the transition part 52.
The operation principle of the embodiment of the present application is:It is clear using foam is arranged on when being run in foam pigging portion 1 in pipeline The deformation that multiple pickup arms 5 of 1 end of pipe portion produce, telecommunications is converted to by deformation quantity by the pressure sensor 7 on pickup arm 5 Number send circuit board assemblies 6 to, then handled by circuit board assemblies 6, can detect that the diameter dimension of pipeline, and record pipeline The data of interior surface.
The present embodiment uses foam pigging portion 1, and foam pigging portion 1 is by columnar axis body and the polyester being set in outside axis body Foam, the diameter of axis body are slightly larger than the internal diameter of pipeline plus the thickness of polyester form, enter in foam pigging portion 1 inside pipeline When, polyester form produces deformation, polyester form is formed pressure to inner-walls of duct, so that polyester form is close to inner-walls of duct On, and then by the produced active force of movement of axis body, the dirt on inner-walls of duct is wiped.
Transition part 52 is bent relative to bending section 51 along close to the central axes direction of the supporting rod 3, i.e. transition part 52 Curvature is less than the curvature of bending section 51, in the case where tube wall inner wall is without dirt or corrosion, passes through foil gauge 53 and transition The deformation in portion 52 ensures that foil gauge 53 comes into full contact with inner-walls of duct.Bending section 51 is along away from the supporting rod 3 Axis direction is bent, and forms expansion form, in the case where corrosion occurs in tube wall inner wall, is ensured the deformation of bending section 51 and is produced Outer tension force, make foil gauge 53 with corroding formed dimple contacts;In the case of the appearance of tube wall inner wall is raised or curved, protect Card bending section 51 can also produce larger deformation quantity, prevent pickup arm 5 from the phenomenon of blocking occur.The quantity of pickup arm 5 needs basis Actual line size is configured.
From above technical scheme, the application, which provides, uses foam geometry caliper in a kind of pipeline, in foam pigging portion 1 When being run in pipeline, using the deformation for the generation of multiple pickup arms 5 for being arranged on 1 end of foam pigging portion, deformation quantity is passed through The pressure sensor 7 of pickup arm 5 is converted to electric signal and sends circuit board assemblies 6 to, then is handled by circuit board assemblies 6, can Detect the diameter dimension of pipeline, and record the roughness of pipeline interior surface, due to the curvature of the bending section 51 of pickup arm 5 It is larger, the deformation quantity of pickup arm 5 is increased, so that effectively avoid the situation of blocking from occurring, and pickup arm 5 can be with foam pigging Portion 1 dismantles, and can not only improve the flexibility used, but also can reduce use cost.
In another embodiment that the application provides, the foil gauge 53 of multiple pickup arms 5 is located at outside transition part 52 End in same level, and form circumference;The diameter of the circumference is bigger than pipe diameter by 5%.The foil gauge 53 Including matrix 531, metal foil grid 532 and lead division 534;The metal foil grid 532 are installed in described matrix 531;It is described to draw The one end for going out portion 534 is connected with one end of the metal foil grid 532;Described matrix 531 is inserted into the transition by the slot In portion 52 and bending section 51, the lead division 534 is located at the outside of the transition part 52.
Preferably, metal foil grid 532 are rectangle, and lead division 534 is elongated metal, and the width of metal foil grid 532 is big In the width of lead division 534, so that lead division 534 is fully connected with metal foil grid 532.
Preferably, the foil gauge 53 further includes insulation protection piece 533;The insulation protection piece 533 is wrapped in described draw Go out the outside in portion 534 and 532 junction of metal foil grid.Insulation protection piece 533 can ensure that lead division 534 connects with metal foil grid 532 The stability connect, to increase it in deformation, the situation for junction fracture occur occurs.
Preferably, the connecting portion 2 is connecting flange;The connecting flange is installed on the end in the foam pigging portion 1 Middle part;The supporting rod 3 is connected with the middle part of the connecting flange.
Supporting rod 3 is fixed on to the middle part in foam pigging portion 1, sensor corrosion-free or dirt feelings inside pipeline can be made Under condition, the deformation quantity of each pickup arm 5 is identical, facilitates Data Detection and the processing in later stage.
Preferably, the deformation quantity of the pickup arm 5 is 40%, i.e., easy to detection and calculates, but ensure by threeway and During bend, enough deformation quantities are produced, avoid blocking phenomenon from occurring.
Referring to Fig. 4, in another embodiment of the application, circuit board assemblies 6 include three axis accelerators 62, clock circuit 63rd, data storage 64, pressure sensor signal acquisition circuit 61, the first A/D conversion circuits 65, the 2nd A/D conversion circuits 66, Data storage 64 and main controller 67;
Each input terminal of the pressure sensor 7 with the pressure sensor signal acquisition circuit 61 is connected;
The output terminal of 7 Acquisition Circuit of pressure sensor passes through the first A/D conversion circuits 65 and the main controller 67 connections;
The output terminal of the three axis accelerator 62 is connected by the 2nd A/D conversion circuits 66 with the main controller 67;
The output terminal of the clock circuit 63 is connected with the main controller 67;
The main controller 67 is connected with the data storage 64;
The main controller 67 is used for the pressure data for gathering the pressure sensor signal acquisition circuit 61 and three axis add The station-keeping data that fast device 62 gathers is matched with corresponding time data, generates data pair, and be sent to the data Memory 64.
Pressure sensor 7 is used for the pressure that pickup arm 5 where detecting is subject to, and three axis accelerators 62 are used for detecting foam pigging The position data of device, the position data include the parameters such as yaw and the rotation of foam pig.Clock data is used for recording foam The current time data of wiper, main controller are matched 67 above-mentioned data, will current time time data with it is current When the position data of foam pig inscribed and pressure sensor 7 pressure data it is corresponding, and send data storage to 64.After foam pig completes pigging, the data in data storage 64 are transmitted to host computer by data-interface, then by Host computer handles data, finally obtains the data inside pipeline, i.e. caliber etc..
Wherein, circuit board assemblies 6 further include driving power circuit 68, by the voltage of battery, to be converted to suitable for electricity Voltage in road plate component 6 needed for various electronic components.
Further, the main controller 67 is additionally operable to, according to default time threshold, control the first A/D conversion circuits 65 and 66 conversion speed of the 2nd A/D conversion circuits.
Default time threshold can have 10ms to control the first A/D conversion circuits 65 and the in seconds, i.e., in 1 second Two A/D conversion circuits, 66 conversion speed is high-speed transitions speed, has 990ms to control the first A/D conversion circuits 65 and the 2nd A/D to turn It is normal conversion speed to change 66 conversion speed of circuit, so that circuit board assemblies 6 make energy consumption on the premise of high measurement accuracy is ensured Reach minimum, to extend the working time of circuit board assemblies 6.
From above technical scheme, the application, which provides, uses foam geometry caliper in a kind of pipeline, in foam pigging portion 1 When being run in pipeline, using the deformation for the generation of multiple pickup arms 5 for being arranged on 1 end of foam pigging portion, deformation quantity is passed through The pressure sensor 7 of pickup arm 5 is converted to electric signal and sends circuit board assemblies 6 to, then is handled by circuit board assemblies 6, can Detect the diameter dimension of pipeline, and record the data of pipeline interior surface, due to pickup arm 5 bending section 51 curvature compared with Greatly, increase the deformation quantity of pickup arm 5, so that effectively avoid the situation of blocking from occurring, and pickup arm 5 can be with foam pigging portion 1 dismounting, can not only improve the flexibility used, but also can reduce use cost.

Claims (8)

1. foam geometry caliper is used in a kind of pipeline, it is characterised in that including foam pigging portion (1), connecting portion (2) and detection Portion;
The end of the foam pigging portion (1) is formed with test section by connecting portion (2) and is detachably connected;
The test section includes supporting rod (3);
One end of the supporting rod (3) is connected with the connecting portion (2);
The other end of the supporting rod (3) is equipped with multiple pickup arms (5);
Multiple pickup arms (5) are uniformly distributed centered on the central axes of supporting rod (3), and form umbrella-shaped structure;
Each pickup arm (5) is equipped with pressure sensor (7);
Part on the supporting rod (3) close to the pickup arm (5) is equipped with circuit board housing (4);
The circuit board housing (4) is equipped with circuit board assemblies (6);
The pressure sensor (7) is connected with the circuit board assemblies (6);
Each pickup arm (5) includes sensing arm body and foil gauge (53);
The sensing arm body is made of stainless steel material;
The sensing arm body includes bending section (51) and transition part (52);
Slot is equipped with the transition part (52) and bending section (51), one end of the foil gauge (53) is inserted into by the slot In the transition part (52) and bending section (51), the other end is located at the outside of the pickup arm (5) body;
The bending section (51) bends along the central axes direction away from the supporting rod (3), forms expansion form;
The transition part (52) bends relative to bending section (51) along close to the central axes direction of the supporting rod (3);
The foil gauge (53) is located at the exterior bending direction along the transition part (52) of the transition part (52) and extends.
2. foam geometry caliper is used in pipeline according to claim 1, it is characterised in that multiple pickup arms (5) Foil gauge (53) be located at the exterior end of transition part (52) in same level, and form circumference;The circumference it is straight Footpath is bigger than pipe diameter by 5%.
3. foam geometry caliper is used in pipeline according to claim 1, it is characterised in that the foil gauge (53) includes Matrix (531), metal foil grid (532) and lead division (534);
The metal foil grid (532) are installed in described matrix (531);
One end of the lead division (534) is connected with one end of the metal foil grid (532);
Described matrix (531) is inserted into the transition part (52) and bending section (51) by the slot,;
The lead division (534) is located at the outside of the transition part (52).
4. foam geometry caliper is used in pipeline according to claim 1, it is characterised in that the foil gauge (53) is also wrapped Include insulation protection piece (533);The insulation protection piece (533) is wrapped in the lead division (534) and is connected with metal foil grid (532) The outside at place.
5. foam geometry caliper is used in pipeline according to claim 1, it is characterised in that the connecting portion (2) is company Acting flange;
The connecting flange is installed on the middle part of the end of the foam pigging portion (1);
The supporting rod (3) is connected with the middle part of the connecting flange.
6. foam geometry caliper is used in pipeline according to claim 1, it is characterised in that the shape of the pickup arm (5) Variable is 40%.
7. according to using foam geometry caliper in claim 1-6 any one of them pipelines, it is characterised in that the circuit board Component (6) includes three axis accelerators (62), clock circuit (63), data storage (64), pressure sensor signal acquisition circuit (61), the first A/D conversion circuits (65), the 2nd A/D conversion circuits (66), data storage (64) and main controller (67);
Each input terminal of the pressure sensor (7) with the pressure sensor Acquisition Circuit (61) is connected;
The output terminal of the pressure sensor Acquisition Circuit (61) passes through the first A/D conversion circuits (65) and the main controller (67) connect;
The output terminal of the three axis accelerator (62) is connected by the 2nd A/D conversion circuits (66) and the main controller (67) Connect;
The output terminal of the clock circuit (63) is connected with the main controller (67);
The main controller (67) is connected with the data storage (64);
The main controller (67) is used to add the pressure data of the pressure sensor signal acquisition circuit (61) collection and three axis The station-keeping data of fast device (62) collection is matched with corresponding time data, generates data pair, and be sent to the number According to memory (64).
8. foam geometry caliper is used in pipeline according to claim 7, it is characterised in that the main controller (61) is also used According to default time threshold, the first A/D conversion circuits (65) and the 2nd A/D conversion circuits (66) conversion speed are controlled Degree.
CN201810053562.0A 2018-01-19 2018-01-19 Foam geometry caliper is used in a kind of pipeline Pending CN108036711A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810053562.0A CN108036711A (en) 2018-01-19 2018-01-19 Foam geometry caliper is used in a kind of pipeline

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Application Number Priority Date Filing Date Title
CN201810053562.0A CN108036711A (en) 2018-01-19 2018-01-19 Foam geometry caliper is used in a kind of pipeline

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Publication Number Publication Date
CN108036711A true CN108036711A (en) 2018-05-15

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CN112945124A (en) * 2021-03-26 2021-06-11 沈阳国仪检测技术有限公司 Comprehensive detection testing machine for detecting performance of detector in pipeline
CN113007493A (en) * 2021-03-11 2021-06-22 中国石油大学(北京) Pipeline diameter measuring and pipe cleaning device
CN115055456A (en) * 2022-06-06 2022-09-16 国家石油天然气管网集团有限公司 Oil pipeline cleaning robot and oil pipeline cleaning method
CN115178544A (en) * 2022-05-06 2022-10-14 西南石油大学 Intelligent pipe cleaner with soft framework

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CN113007493A (en) * 2021-03-11 2021-06-22 中国石油大学(北京) Pipeline diameter measuring and pipe cleaning device
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CN112945124B (en) * 2021-03-26 2024-04-30 沈阳国仪检测技术有限公司 Comprehensive detection testing machine for detecting performance of detector in pipeline
CN115178544A (en) * 2022-05-06 2022-10-14 西南石油大学 Intelligent pipe cleaner with soft framework
CN115055456A (en) * 2022-06-06 2022-09-16 国家石油天然气管网集团有限公司 Oil pipeline cleaning robot and oil pipeline cleaning method

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Application publication date: 20180515