CN112974426B - Crack detection device in high-pressure high-temperature pipeline - Google Patents
Crack detection device in high-pressure high-temperature pipeline Download PDFInfo
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- CN112974426B CN112974426B CN202110203677.5A CN202110203677A CN112974426B CN 112974426 B CN112974426 B CN 112974426B CN 202110203677 A CN202110203677 A CN 202110203677A CN 112974426 B CN112974426 B CN 112974426B
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- box body
- pipeline
- rotating shaft
- sleeve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/032—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing
- B08B9/035—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing by suction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Cleaning In General (AREA)
Abstract
The invention relates to a crack detection device in a high-pressure high-temperature pipeline, which comprises: the box, install drive assembly on the box, drive assembly is including installing motor, connection on the box the pivot and the fixed mounting of motor output are in the pivot is kept away from the rotor plate of one of motor is served, when using, carry out appropriate regulation to the walking subassembly through adjusting part, arrange the device in the pipeline afterwards, motor work, the pivot drives the walking subassembly motion for the device removes in the pipeline, the pivot drives the rotor plate and rotates, the rotor plate drives cleans the subassembly motion, clean the dust that the subassembly was on with the pipeline inner wall and sweep down, the effectual clean function of pipeline inner wall has been realized, and simultaneously, the pivot drives the detection module motion, carry out crack detection to the inner wall of pipeline, finally, realized the effectual portable automated inspection function of device to crack in the pipeline.
Description
Technical Field
The invention relates to the technical field related to pipeline detection equipment, in particular to a crack detection device in a high-pressure high-temperature pipeline.
Background
With the rapid development of various industries, high-pressure high-temperature pipes are widely applied to various industries for conveying various media, however, with the long-term use of the high-pressure high-temperature pipes, cracks may be caused inside the high-pressure high-temperature pipes, and the crack detection work in the pipeline is indispensable for preventing normal use.
When crack detection is carried out on the existing high-pressure high-temperature pipeline, a worker generally sends a detector into the pipeline through a long rod to detect cracks on the inner wall of the pipeline, so that the workload is high, the working efficiency is low, and dust existing on the inner wall of the pipeline can influence the final detection result, so that the ideal detection effect cannot be achieved in the actual pipeline detection work.
Disclosure of Invention
The invention aims to provide a crack detection device in a high-pressure high-temperature pipeline, which is used for solving the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a crack detection device in a high-pressure high-temperature pipeline, the crack detection device in a high-pressure high-temperature pipeline comprises: the cleaning device comprises a box body, wherein a driving assembly is arranged on the box body, the driving assembly comprises a motor arranged on the box body, a rotating shaft connected with the output end of the motor and a rotating plate fixedly arranged on one end of the rotating shaft far away from the motor, and two groups of cleaning assemblies are arranged on the rotating plate;
the crack detection device in the high-pressure high-temperature pipeline also comprises a detection assembly arranged on the rotating shaft, when the driving assembly works, the cleaning assembly is driven to rotate so as to clean the inner wall of the pipeline, and meanwhile, the rotating shaft drives the detection assembly to move so that the detection assembly detects cracks in the pipeline;
crack detection device still including installing respectively in high pressure high temperature pipeline two sets of moving mechanism of box both sides, moving mechanism is including installing two sets of running gear of box lateral part and connecting two sets of running gear's adjusting part, just running gear with the pivot is connected.
As a further scheme of the invention: the walking assembly comprises two rotating shafts rotatably mounted on the side part of the box body, sleeve shafts in sliding fit with the rotating shafts and a central walking wheel fixedly mounted on one end of each sleeve shaft away from the box body, and the two sleeve shafts are provided with a sleeve respectively and connected with the adjusting assembly;
the rotating shaft is fixedly provided with a first bevel gear, the inner wall of the box body is rotatably provided with a second bevel gear meshed with the first bevel gear through a transmission shaft, and the rotating shaft is connected with the transmission shaft through a first transmission belt.
As a still further scheme of the invention: the adjusting assembly comprises a bidirectional screw rod arranged on the side part of the box body, two threaded sleeves arranged on the bidirectional screw rod, and a rotating wheel fixedly arranged on one end of the bidirectional screw rod close to the motor;
two sections of threads on the bidirectional screw rod are arranged in opposite directions, the two threaded sleeves are connected with the sleeve through connecting rods, and two ends of each connecting rod are hinged with the sleeve and the threaded sleeves respectively.
As a still further scheme of the invention: the cleaning assembly comprises a mounting plate and a brush, the mounting plate is mounted on the rotating plate through two torsion springs, and the brush is arranged on the mounting plate and contacts with the inner wall of the pipeline.
As a still further scheme of the invention: the rotating plate is also fixedly provided with two guide shafts, and the mounting plate is fixedly provided with two sliding shafts which are in sliding sleeve with the guide shafts.
As a still further scheme of the invention: the detection assembly comprises a fixed sleeve fixedly installed on the rotating shaft through a bolt and a scanning detector fixedly installed on the fixed sleeve through a connecting plate.
As a still further scheme of the invention: the crack detection device in the high-pressure high-temperature pipeline further comprises a dust collection mechanism which is arranged on the box body and is parallel to the walking surface of the box body, wherein the dust collection mechanism comprises a transmission assembly which is arranged on the box body and is connected with the rotating shaft and a dust removal assembly which is connected with the transmission assembly.
As a still further scheme of the invention: the transmission assembly comprises a worm arranged on the box body and connected with the rotating shaft through a second transmission belt, and a worm wheel rotatably arranged on the box body and meshed with the worm, and the worm wheel is connected with the dust removal assembly.
As a still further scheme of the invention: the dust removal assembly comprises an air pump and a water tank, the air pump is mounted on the tank body, the driving shaft is connected with the worm gear through a third driving belt, the water tank is arranged on the tank body, and an air outlet of the air pump is communicated with the water tank through a one-way valve.
Compared with the prior art, the invention has the beneficial effects that: the device is novel in design, when the device is used, the walking assembly is properly adjusted through the adjusting assembly, then the device is placed in a pipeline, the motor works, the rotating shaft drives the walking assembly to move, so that the device moves in the pipeline, the rotating shaft drives the rotating plate to rotate, the rotating plate drives the cleaning assembly to move, the cleaning assembly sweeps dust on the inner wall of the pipeline, the effective cleaning function of the inner wall of the pipeline is realized, meanwhile, the rotating shaft drives the detection assembly to move, crack detection is carried out on the inner wall of the pipeline, finally, the movable automatic detection function of the device on the crack in the pipeline is realized, the efficiency of detection work is greatly improved, and when the device is used for detection, the dust on the inner wall of the pipeline is cleared, so that the accuracy of detection is ensured.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of a crack detection device in a high-pressure high-temperature pipeline.
Fig. 2 is a schematic structural diagram of a dust suction mechanism in an embodiment of the crack detection device in the high-pressure high-temperature pipeline.
FIG. 3 is a schematic structural diagram of a rotating shaft and a sleeve shaft in one embodiment of the crack detection device in the high-pressure high-temperature pipeline.
FIG. 4 is a schematic view showing a connection relationship between a guide shaft and a sliding tube in an embodiment of a crack detection device in a high-pressure high-temperature pipeline.
In the figure: 1, a box body; 2, a motor; 3-a rotating shaft; 4-fixing the sleeve; 5-connecting plates; 6-a scanning detector; 7-a rotating plate; 8-torsion spring; 9-mounting a plate; 10-a brush; 11-a guide shaft; 12-a sliding tube; 13-a first bevel gear; 14-a second bevel gear; 15-a rotating shaft; 16-a sleeve shaft; 17-a sleeve; 18-a connecting rod; 19-a bidirectional screw rod; 20-a threaded sleeve; 21-a rotating wheel; 22-road wheels; 23-a first drive belt; 24-a second drive belt; 25-a worm; 26-a worm gear; 27-a third drive belt; 28-an air pump; 29-a one-way valve; 30-water tank.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In addition, an element described herein as being "secured to" or "disposed on" another element may be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a single embodiment.
Referring to fig. 1 to 4, in an embodiment of the present invention, an apparatus for detecting cracks in a high-pressure high-temperature pipeline includes: the cleaning device comprises a box body 1, wherein a driving assembly is arranged on the box body 1, the driving assembly comprises a motor 2 arranged on the box body 1, a rotating shaft 3 connected with the output end of the motor 2 and a rotating plate 7 fixedly arranged on one end of the rotating shaft 3 far away from the motor 2, and two groups of cleaning assemblies are arranged on the rotating plate 7;
the device for detecting the cracks in the high-pressure high-temperature pipeline further comprises a detection assembly arranged on the rotating shaft 3, when the driving assembly works, the cleaning assembly is driven to rotate so as to clean the inner wall of the pipeline, and meanwhile, the rotating shaft drives the detection assembly to move so that the detection assembly can detect the cracks in the pipeline;
crack detection device still including installing respectively in high pressure high temperature pipeline 1 both sides two sets of moving mechanism, moving mechanism is including installing two sets of running gear of 1 lateral part of box and connecting two sets of running gear's adjusting part, just running gear with pivot 3 is connected.
In the embodiment of the invention, when the device is used, the walking assembly is properly adjusted through the adjusting assembly, then the device is placed in a pipeline, the motor 2 works, the rotating shaft 3 drives the walking assembly to move, so that the device moves in the pipeline, the rotating shaft 3 drives the rotating plate 7 to rotate, the rotating plate 7 drives the cleaning assembly to move, the cleaning assembly sweeps dust on the inner wall of the pipeline, the effective cleaning function of the inner wall of the pipeline is realized, meanwhile, the rotating shaft 3 drives the detecting assembly to move, crack detection is carried out on the inner wall of the pipeline, and finally, the effective movable automatic detection function of the device on the crack in the pipeline is realized.
As an embodiment of the present invention, the walking assembly includes two rotating shafts 15 rotatably mounted on the side of the box body 1, sleeve shafts 16 slidably sleeved with the rotating shafts 15, and central walking wheels 22 fixedly mounted on one ends of the sleeve shafts 16 far away from the box body 1, and a sleeve 17 is disposed on each of the two sleeve shafts 16, and the sleeve 17 is connected with the adjusting assembly;
a first bevel gear 13 is fixedly mounted on the rotating shaft 3, a second bevel gear 14 meshed with the first bevel gear 13 is rotatably mounted on the inner wall of the box body 1 through a transmission shaft, and the rotating shaft 15 is connected with the transmission shaft through a first transmission belt 23.
In the embodiment of the invention, when the device works, the rotating shaft 3 drives the first bevel gear 13 to rotate, the first bevel gear 13 drives the rotating shaft 15 and the sleeve shaft 16 to rotate through the second bevel gear 14, so that the sleeve shaft 16 drives the traveling wheels 22 to rotate, and the box body 1 moves in the pipeline, thereby realizing the effective moving function of the device.
As an embodiment of the present invention, the adjusting assembly includes a bidirectional screw rod 19 mounted on a side portion of the box body 1, two threaded sleeves 20 disposed on the bidirectional screw rod 19, and a rotating wheel 21 fixedly mounted on one end of the bidirectional screw rod 19 close to the motor 2;
the two sections of threads on the bidirectional screw rod 19 are arranged in opposite directions, the two threaded sleeves 20 are connected with the sleeve 17 through the connecting rod 18, and two ends of the connecting rod 18 are hinged to the sleeve 17 and the threaded sleeves 20 respectively.
In the embodiment of the invention, when the rotating wheel 21 is rotated in the forward direction, the two-way screw rod 19 is rotated in the forward direction, the two threaded sleeves 20 move close to each other, the threaded sleeves 20 drive the sleeve shaft 16 and the travelling wheel 22 to move towards the box body 1 through the connecting rod 18, and when the rotating wheel 21 is rotated in the reverse direction, the two threaded sleeves 20 are away from each other, so that the sleeve shaft 16 and the travelling wheel 22 move towards the direction away from the box body 1, thereby realizing the function of adjusting the position of the travelling wheel 22 and avoiding the limitation on the detection work of the device due to the different pipe calibers.
As an embodiment of the present invention, the sweeping assembly includes a mounting plate 9 mounted on the rotating plate 7 by two torsion springs 8, and a brush 10 provided on the mounting plate 9 and contacting the inner wall of the duct.
In the embodiment of the invention, during detection, the rotating plate 7 rotates to drive the mounting plate 9 and the hairbrush 10 to rotate in the pipeline, and at the moment, the torsion spring 8 is in a compressed state, so that the hairbrush 10 is in close contact with the inner wall of the pipeline, the effective cleaning function of the hairbrush 10 on dust on the inner wall of the pipeline in the rotation process is ensured, and the subsequent detection is more accurate.
As an embodiment of the present invention, two guide shafts 11 are further fixedly mounted on the rotating plate 7, and two sliding shafts 12 slidably engaged with the guide shafts 11 are fixedly mounted on the mounting plate 9.
In the embodiment of the invention, when the torsion spring 8 is compressed in the using process, the sliding shaft 12 slides towards the rotating plate 7 on the guide shaft 11, so that the movement of the mounting plate 9 is effectively guided, and meanwhile, the brush can conveniently enter the pipeline, and the torsion spring 8 is protected.
As an embodiment of the present invention, the detecting assembly includes a fixing sleeve 4 fixedly mounted on the rotating shaft 3 by bolts and a scanning detector 6 fixedly mounted on the fixing sleeve 4 by a connecting plate 5.
In the embodiment of the invention, when the device works, the rotating shaft 3 drives the fixed sleeve 4 to rotate, the fixed sleeve 4 drives the scanning detector 6 to rotate in the pipeline through the connecting plate 5, and the inner wall of the pipeline is scanned and detected, so that the effective detection function of the device on cracks in the pipeline is realized.
As an embodiment of the present invention, the crack detection device in the high-pressure high-temperature pipeline further includes a dust collection mechanism which is arranged on the box body 1 and is parallel to the traveling surface of the box body 1, and the dust collection mechanism includes a transmission assembly which is arranged on the box body 1 and is connected with the rotating shaft 3, and a dust removal assembly which is connected with the transmission assembly.
In the embodiment of the invention, when the device works, the rotating shaft 3 drives the dust removal component to work through the transmission component, so that the dust removal component absorbs dust cleaned by the brush 10 in the pipeline, and the effective removal and purification functions of the dust in the pipeline are realized.
As an embodiment of the invention, the transmission assembly comprises a worm 25 mounted on the box body 1 and connected with the rotating shaft 3 through a second transmission belt 24, and a worm wheel 26 rotatably mounted on the box body 1 and meshed with the worm 25, and the worm wheel 26 is connected with the dust removing assembly.
In the embodiment of the invention, during operation, the rotating shaft 3 drives the worm 25 to rotate through the second transmission belt 24, the worm 25 drives the worm wheel 26 to rotate, and the worm wheel 26 drives the dust removal assembly to work, so that the movement of the box body 1 and the dust removal synchronism of the dust removal assembly to dust are realized.
As an embodiment of the present invention, the dust removing assembly includes an air pump 28 mounted on the box body 1 and having a driving shaft connected to the worm wheel 26 through a third belt 27, and a water tank 30 provided on the box body 1, and an air outlet of the air pump 28 is communicated with the water tank 30 through a check valve 29.
In the embodiment of the invention, during the moving operation of the device in the pipeline, the worm wheel 26 drives the air pump 28 to operate through the third transmission belt 27, so that the air pump 28 absorbs the dust swept by the brush 10 and transmits the dust to the water tank 30 through the one-way valve 29 at the air outlet for treatment, thereby realizing the effective purification function of the dust in the pipeline.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (6)
1. The utility model provides a crackle detection device in high pressure high temperature pipeline which characterized in that, crackle detection device in the high pressure high temperature pipeline includes: the cleaning device comprises a box body (1), wherein a driving assembly is arranged on the box body (1), the driving assembly comprises a motor (2) arranged on the box body (1), a rotating shaft (3) connected with the output end of the motor (2) and a rotating plate (7) fixedly arranged at one end, far away from the motor (2), of the rotating shaft (3), and two groups of cleaning assemblies are arranged on the rotating plate (7);
the crack detection device in the high-pressure high-temperature pipeline also comprises a detection assembly arranged on the rotating shaft (3), when the driving assembly works, the cleaning assembly is driven to rotate so as to clean the inner wall of the pipeline, and simultaneously, the rotating shaft drives the detection assembly to move so that the detection assembly detects cracks in the pipeline;
the crack detection device in the high-pressure high-temperature pipeline further comprises two groups of moving mechanisms which are respectively arranged on two sides of the box body (1), each moving mechanism comprises two groups of walking components arranged on the side part of the box body (1) and an adjusting component for connecting the two groups of walking components, and the walking components are connected with the rotating shaft (3);
the walking assembly comprises two rotating shafts (15) rotatably mounted on the side of the box body (1), sleeve shafts (16) in sliding fit with the rotating shafts (15) and walking wheels (22) fixedly mounted at one ends, far away from the box body (1), of the sleeve shafts (16), a sleeve (17) is arranged on each of the two sleeve shafts (16), and the sleeve (17) is connected with the adjusting assembly;
a first bevel gear (13) is fixedly installed on the rotating shaft (3), a second bevel gear (14) meshed with the first bevel gear (13) is rotatably installed on the inner wall of the box body (1) through a transmission shaft, and the rotating shaft (15) is connected with the transmission shaft through a first transmission belt (23);
the adjusting assembly comprises a bidirectional screw rod (19) arranged on the side part of the box body (1), two threaded sleeves (20) arranged on the bidirectional screw rod (19), and a rotating wheel (21) fixedly arranged at one end, close to the motor (2), of the bidirectional screw rod (19);
two sections of threads on the bidirectional screw rod (19) are arranged in opposite directions, the two threaded sleeves (20) are connected with the sleeve (17) through connecting rods (18), and two ends of each connecting rod (18) are hinged with the sleeve (17) and the threaded sleeve (20) respectively;
clean the subassembly and include and install through two torsional springs (8) mounting panel (9) on rotor plate (7), and set up on mounting panel (9) and with brush (10) of pipeline inner wall contact.
2. The device for detecting the cracks in the high-pressure high-temperature pipeline as claimed in claim 1, wherein two guide shafts (11) are fixedly arranged on the rotating plate (7), and two sliding shafts (12) which are slidably sleeved with the guide shafts (11) are fixedly arranged on the mounting plate (9).
3. The crack detector in high-pressure high-temperature pipeline according to claim 1, characterized in that the detection assembly comprises a fixed sleeve (4) fixedly mounted on the rotating shaft (3) through bolts and a scanning detector (6) fixedly mounted on the fixed sleeve (4) through a connecting plate (5).
4. The device for detecting the cracks in the high-pressure high-temperature pipeline according to any one of claims 1 to 3, further comprising a dust suction mechanism which is arranged on the box body (1) and is parallel to the walking surface of the box body (1), wherein the dust suction mechanism comprises a transmission component which is arranged on the box body (1) and is connected with the rotating shaft (3) and a dust removal component which is connected with the transmission component.
5. The device for detecting cracks in a high-pressure high-temperature pipeline according to claim 4, wherein the transmission assembly comprises a worm (25) which is installed on the box body (1) and connected with the rotating shaft (3) through a second transmission belt (24), and a worm wheel (26) which is rotatably installed on the box body (1) and meshed with the worm (25), and the worm wheel (26) is connected with the dust removal assembly.
6. The device for detecting the cracks in the high-pressure high-temperature pipeline as claimed in claim 5, wherein the dust removing assembly comprises an air pump (28) which is installed on the box body (1) and a driving shaft of which is connected with the worm wheel (26) through a third transmission belt (27), and a water tank (30) which is arranged on the box body (1), and an air outlet of the air pump (28) is communicated with the water tank (30) through a one-way valve (29).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110203677.5A CN112974426B (en) | 2021-02-23 | 2021-02-23 | Crack detection device in high-pressure high-temperature pipeline |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110203677.5A CN112974426B (en) | 2021-02-23 | 2021-02-23 | Crack detection device in high-pressure high-temperature pipeline |
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| CN112974426A CN112974426A (en) | 2021-06-18 |
| CN112974426B true CN112974426B (en) | 2022-09-27 |
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| CN202110203677.5A Active CN112974426B (en) | 2021-02-23 | 2021-02-23 | Crack detection device in high-pressure high-temperature pipeline |
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| CN117469521B (en) * | 2023-12-28 | 2024-03-15 | 河南黄河水工机械有限公司 | Pipeline quality detection device for hydraulic engineering |
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| CN105598104A (en) * | 2016-03-16 | 2016-05-25 | 西华大学 | High-speed rotating brush pipe cleaner |
| JP2018069161A (en) * | 2016-10-30 | 2018-05-10 | エム・テイ・システム株式会社 | Cleaning working carriage and conduit cleaning system |
| CN212190436U (en) * | 2020-03-31 | 2020-12-22 | 北京博清科技有限公司 | Pipeline inner wall cleaning robot |
| CN111495900A (en) * | 2020-05-13 | 2020-08-07 | 杭州偶耀智能科技有限公司 | Crack detection and repair device capable of removing cement blocks in sewer pipe |
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| CN112974426A (en) | 2021-06-18 |
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