CN113029476A - Natural gas leakage detection system and use method thereof - Google Patents
Natural gas leakage detection system and use method thereof Download PDFInfo
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- CN113029476A CN113029476A CN202110136817.1A CN202110136817A CN113029476A CN 113029476 A CN113029476 A CN 113029476A CN 202110136817 A CN202110136817 A CN 202110136817A CN 113029476 A CN113029476 A CN 113029476A
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- sheet
- natural gas
- pressure
- piezoelectric
- gas leakage
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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
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/40—Investigating fluid-tightness of structures by using electric means, e.g. by observing electric discharges
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
- F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
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- Engineering & Computer Science (AREA)
- Acoustics & Sound (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Examining Or Testing Airtightness (AREA)
Abstract
The invention discloses a natural gas leakage detection system and a use method thereof, the natural gas leakage detection system structurally comprises a speed regulator, a conveying pipeline, an explosion-proof steel ring, a lower mounting frame, a supporting column and a connecting disc, wherein the connecting disc is in threaded connection with the left side of the conveying pipeline, the connecting rail and a sensing frame are tightly attached to the pipeline, once slight natural gas leakage occurs, the connecting rail and the sensing frame are pushed outwards to compress a vibrating spring and drive a pressure applying sheet to movably push a piezoelectric device outwards, the natural gas leakage in any mode of any volume can be sensed, the alertness is higher, the pressure conducted by the pressure applying sheet can be received, the pressure is caused to the piezoelectric sheet by a receiving sheet and a counter head, corresponding electric quantity is conducted to a conductive wire according to the magnitude of the pressure, the conductive wire is electrified with the electric sheet, the flashing sheet at the corresponding position starts to flash and sends out signals to the outside, the worker can quickly find the corresponding leakage position on site, and the damage is timely processed.
Description
The invention is a divisional application of a natural gas leakage detection system, wherein the application date is 2019, 11, 15 and the application number is CN 201911117461.6.
Technical Field
The invention relates to piezoelectric material application equipment, in particular to a natural gas leakage detection system and a using method thereof.
Background
The natural gas is an energy source with a wide application range at present, most of the natural gas is distributed in the north, so the natural gas collected in the north needs to be conveyed to the south through a pipeline for use, in the environment of pipeline erection, various complex terrains can be frequently encountered, various external forces influence the pipeline, the prior art is not comprehensive in consideration, and the following defects are realized:
the pipeline of prior art natural gas receives external condition easily and influences and appears the damage in the in-process of transmission, leads to the natural gas will appear revealing in the transmission, and prior art generally detects inside atmospheric pressure through gas sensor and judges whether revealing appears, but inside atmospheric pressure is not enough to change when little wound appears, reveals for a long time and can more than lead to extravagantly and take place dangerous accident easily.
Disclosure of Invention
The invention aims to provide a natural gas leakage detection system and a using method thereof, aiming at solving the problems that in the prior art, a pipeline is easily damaged due to the influence of external conditions in the transmission process of natural gas, so that the natural gas can leak during transmission, and in the prior art, the internal air pressure is detected by a gas sensor to judge whether the leakage occurs, but the internal air pressure is not enough to change when a small wound occurs, so that the leakage is not only long but also waste is caused, and dangerous accidents are easy to occur.
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a natural gas leakage detecting system and application method, its structure includes speed regulator, pipeline, explosion-proof steel ring, lower mounting bracket, prop up post, connection pad threaded connection is in pipeline's left side, the speed regulator is inserted perpendicularly and is inlayed in the right side of pipeline top and adopt mechanical connection, prop up the post and be equipped with more than two and the nail is connected in pipeline's bottom, the mounting bracket passes through rivet locking in the below of propping up the post down, explosion-proof steel ring is equipped with more than two and encircles the surface of parcel at pipeline.
In order to optimize the technical scheme, the method further comprises the following steps:
according to one possible embodiment, the conveying pipe is composed of an outer pressure device, an inner vibration mechanism, an inner conveying pipe and a closing frame, the inner vibration mechanism is movably attached to the outer surface of the inner conveying pipe, the outer pressure device is movably attached to the outer surface of the inner vibration mechanism, and the closing frame is provided with more than two vertical threads which are connected to the left end and the right end of the inner vibration mechanism.
According to one implementation mode, the internal vibration mechanism is composed of a pressing piece, an embedded piece, a connecting rail, sensing frames and a vibration spring, the embedded piece is fixedly arranged on the outer surface of the inner transmission pipe, the sensing frames are provided with three and movably connected inside the embedded piece, the connecting rail is connected between the two sensing frames in a gluing mode, the pressing piece is buckled above the connecting rail through a buckle, and the vibration spring is mechanically connected inside the sensing frames.
According to one possible embodiment, the external pressure device is composed of an external insert, an external viewing device, a regulating channel, an emergency ring and a piezoelectric device, wherein the piezoelectric device is movably connected to the bottom of the inside of the external insert, the regulating channel is provided with two ends which are electrically welded to the left end and the right end of the inside of the external insert, the emergency ring is mechanically connected between the piezoelectric device and the external viewing device, the external viewing device is welded to the top of the inside of the external insert, and the external insert is movably attached to the outer surface of the internal insert.
According to one embodiment, the piezoelectric device comprises a piezoelectric plate, a pair of heads, a power supply line, two or more high-voltage springs and a receiving plate, wherein the receiving plate is buckled at the bottom of the piezoelectric plate through a buckle and movably connected with the pressure applying plate, the pair of heads are vertically inserted and embedded above the receiving plate, the two high-voltage springs are elastically connected to the inner side of the piezoelectric plate, and the power supply line is mechanically connected to the left end and the right end of the piezoelectric plate.
According to one can implement mode, the device is looked outward by flashing the piece, connect electric piece, conductor wire, overvoltage crowbar, plasticity chamber to constitute, the piece that flashes is equipped with three and glues the top of connecting the electric piece, connect the electric piece be equipped with three and the top of electric connection in plasticity intracavity portion, the below of connecting the electric piece is connected to the conductor wire, overvoltage crowbar is equipped with two and electric welding plasticity intracavity portion about both ends and with high-voltage spring electric connection together.
Advantageous effects
The natural gas leakage detection system and the use method thereof have the advantages of reasonable design, strong functionality and the following beneficial effects:
according to the invention, the connection rail and the sensing frame are tightly attached to the pipeline through the internal vibration mechanism, once slight natural gas leakage occurs, the connection rail and the sensing frame are pushed outwards, the vibration spring is compressed, the vibration spring drives the pressing sheet to movably push the piezoelectric device outwards, natural gas leakage in any mode of any volume can be sensed, and the alertness is higher.
According to the invention, the pressure transmitted by the pressure applying sheet can be received through the external pressure device, the pressure is generated on the pressure applying sheet through the receiving sheet and the opposite vertex, the corresponding electric quantity is transmitted to the conductive wire according to the pressure, the conductive wire is electrified with the voltage applying sheet, the flickering sheet at the corresponding position starts to flicker, and meanwhile, a signal is sent to the outside, so that a worker can quickly find the corresponding leakage position at the site to timely process and stop the loss.
Drawings
Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of the embodiments of the invention when taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic structural diagram of a natural gas leakage detection system and a use method thereof according to the present invention.
Fig. 2 is a schematic structural diagram of a natural gas leakage detection system and a method for using the same according to the present invention.
Fig. 3 is a detailed structural schematic diagram of an internal vibration mechanism of a natural gas leakage detection system and a use method thereof according to the present invention.
Fig. 4 is a detailed structural schematic diagram of an external pressure device of a natural gas leakage detection system and a method for using the same according to the present invention.
Fig. 5 is a schematic structural diagram of the interior of a piezoelectric device of a natural gas leakage detection system and a method for using the same according to the present invention.
Fig. 6 is a detailed structural schematic diagram of an external view device of a natural gas leakage detection system and a use method thereof according to the present invention.
Description of reference numerals: governor 0, conveying pipeline 1, explosion-proof steel ring 2, lower mounting bracket 3, support pillar 4, connection disc 5, external pressure device 11, internal vibration mechanism 22, internal conveying pipe 33, fastening frame 44, pressing piece 220, internal embedding piece 221, connection rail 222, sensing frame 223, vibrating spring 224, external embedding piece 110, external viewing device 111, adjusting channel 112, emergency ring 113, piezoelectric device 114, piezoelectric piece 140, opposite vertex 141, feeder line 142, high-pressure spring 143, receiving piece 144, flashing piece 1111, electric connection piece 1112, electric lead 1113, overvoltage joint 1114 and plastic cavity 1115.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1, the present invention provides a natural gas leakage detection system and a method for using the same: its structure includes speed regulator 0, pipeline 1, explosion-proof steel ring 2, lower mounting bracket 3, prop up post 4, connection pad 5 threaded connection is in pipeline 1's left side, speed regulator 0 inserts perpendicularly and inlays the right side in pipeline 1 top and adopt mechanical connection, prop up post 4 and be equipped with more than two and the nail connection in pipeline 1's bottom, mounting bracket 3 passes through rivet locking in the below of propping up post 4 down, explosion-proof steel ring 2 is equipped with more than two and encircles the surface of parcel at pipeline 1.
Referring to fig. 2, the conveying pipeline 1 is composed of an outer pressure device 11, an inner vibration mechanism 22, an inner conveying pipe 33 and a fastening frame 44, the inner vibration mechanism 22 is movably attached to the outer surface of the inner conveying pipe 33, the outer pressure device 11 is movably attached to the outer surface of the inner vibration mechanism 22, the fastening frame 44 is provided with more than two parts and is vertically screwed to the left end and the right end of the inner vibration mechanism 22, the inner vibration mechanism 22 is attached to the surface of the inner conveying pipe 33 through a section of hinge, the inner vibration mechanism 22 can be lifted up during maintenance, corresponding leakage positions can be found, the inner conveying pipe 33 is protected on the surface layer while induction is performed, and the relationship between the outer pressure device 11 and the inner vibration mechanism 22 and the relationship between the inner vibration mechanism 22 and the inner conveying pipe 33 are treated.
Referring to fig. 3, the internal vibration mechanism 22 includes a pressing plate 220, an internal embedding plate 221, a connecting rail 222, a sensing frame 223, and a vibration spring 224, the internal embedding plate 221 is fixedly disposed on the outer surface of the internal transmission pipe 33, the sensing frame 223 has three parts and is movably connected to the internal embedding plate 221, the connecting rail 222 is glued between the two sensing frames 223, the pressing plate 220 is fastened above the connecting rail 222 by a buckle, the vibration spring 224 is mechanically connected to the inside of the sensing frame 223, the sensing frames 223 are connected to the connecting rail 222, and any one of the parts, which is pressed, can drive the corresponding adjacent sensing frame 223 and the connecting rail 222 to move, so that the stressed area is increased, the situation that the pressure on one side is not enough to transmit the pressure is prevented, the design of the vibration spring 224 can slow down the vibration of the pipeline, and prevent the pressure caused by the vibration of the pipeline from being mistakenly broken.
Referring to fig. 4, the external pressure device 11 is composed of an external embedded plate 110, an external viewing device 111, a regulating channel 112, an emergency ring 113, and a piezoelectric device 114, the piezoelectric device 114 is movably connected to the bottom of the inside of the external insertion piece 110, the two adjustment channels 112 are electrically welded to the left and right ends of the inside of the external insertion piece 110, the emergency ring 113 is mechanically connected between the piezoelectric device 114 and the looking-out device 111, the outward-looking device 111 is welded at the top inside the outer embedded sheet 110, the outer embedded sheet 110 is movably attached to the outer surface of the inner embedded sheet 221, the piezoelectric device 114 is tightly attached to the pressure applying sheet 220, pressure can be transmitted without damage, a reset spring is arranged on the inner side of the adjusting channel 112, the piezoelectric device 114 can be automatically rebounded when the pressure disappears, the emergency ring 113 can rapidly transmit electric quantity greater than an extreme value, and rapid detection and alarming under the condition of sudden large leakage can be guaranteed.
Referring to fig. 5, the piezoelectric device 114 is composed of a piezoelectric sheet 140, a pair of heads 141, a power supply line 142, a high-voltage spring 143 and a receiving sheet 144, the receiving sheet 144 is fastened at the bottom of the piezoelectric sheet 140 by a buckle and movably connected with a pressure applying sheet 220, the pair of heads 141 is provided with more than two and vertically inserted above the receiving sheet 144, the high-voltage spring 143 is provided with two and elastically connected to the inner side of the piezoelectric sheet 140, the power supply line 142 is mechanically connected to the left and right ends of the piezoelectric sheet 140, the piezoelectric sheet 140 is connected by two sections, so that strong pressure and weak pressure can be reasonably conducted, pressure of any magnitude can be conducted in time and is not damaged, the high-voltage spring 143 can rapidly conduct high voltage through the power supply line 142 when being touched, and the whole device can be directly triggered by skipping a middle conducting procedure.
Referring to fig. 6, the external view device 111 is composed of a flash sheet 1111, an electric connection sheet 1112, a conductive wire 1113, an overvoltage joint 1114 and a plastic cavity 1115, the flash sheet 1111 is provided with three and is glued to connect the upper part of the electric connecting piece 1112, the electric connecting piece 1112 is provided with three and is electrically connected to the top part inside the plastic cavity 1115, the conducting wire 1113 is electrically connected below the electric connection piece 1112, the overvoltage joint 1114 is provided with two electric welding plastic cavities 1115 at the left end and the right end and is electrically connected with the high-voltage spring 143, the number of the flicker pieces 1111 is three, the leakage position can be subdivided again, when three flashing pieces 1111 light up simultaneously and show that high pressure reveals promptly, need quick processing, conductor wire 1113 can be when high pressure reveals unify the uniform output with all electric current integration, overvoltage joint 1114 can only accept the high-voltage current of feeder 142 transmission, lets high-voltage signal have the passageway of quick conduction.
The natural gas delivery end is connected with the connecting disc 5, the inner transmission pipes are connected together through the buckling frame 44, the natural gas is delivered through the inner transmission pipe 33, under the condition of slight leakage of the natural gas, the natural gas is sprayed onto the connecting rail 222 or the sensing frame 223 through the inner transmission pipe 33, the natural gas moves outwards until the natural gas presses the pressing sheet 220, the pressing sheet 220 presses the receiving sheet 144 in the corresponding direction, the piezoelectric sheet 140 is pressed to cause electric energy to be output through the opposite top heads 141 in the corresponding direction and is communicated to the corresponding electric connection sheet 1112, the corresponding flash sheet 1111 is lightened, a worker can quickly find a leakage position according to the lightening condition of the flash sheet 1111 when arriving at the site, when the natural gas has large leakage, the high-pressure spring 143 can be quickly pressed when the piezoelectric sheet 140 is pressed, the feeder 142 is quickly electrified to be conducted to the overvoltage joint 1114 through the emergency ring 113, make lead wire 1113 switch on three electric piece 1112 and three flashing piece 1111 rapidly, let three flashing piece 1111 light rapidly and toward outside signals transmission, let the staff arrive the scene very first time, through the position that the natural gas of detection that piezoelectric material can be accurate revealed, let the transmission of natural gas safety more.
According to the invention, through the mutual combination of the above components, the connecting rail 222 and the sensing frame 223 are tightly attached to the pipeline, once slight natural gas leakage occurs, the connecting rail 222 and the sensing frame 223 are pushed outwards, the vibrating spring 224 is compressed, the vibrating spring drives the pressing sheet 220 to movably push the piezoelectric device 114 outwards, natural gas leakage in any mode of any volume can be sensed, the alertness is higher, the pressure conducted by the pressing sheet 220 can be received, the receiving sheet 144 and the top 141 are used for causing pressure to the piezoelectric sheet 140, corresponding electric quantity is conducted to the conducting wire 1113 according to the pressure, the conducting wire 1113 is electrified to the conducting wire 1113, the flashing sheet 1111 at the corresponding position starts to flash, and meanwhile, a signal is sent to the outside, so that a worker can quickly find the corresponding leakage position on site and timely deal with loss stopping.
The specific embodiments described herein are merely illustrative of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the scope of the invention or exceeding the scope of the claims appended hereto.
Claims (5)
1. The utility model provides a natural gas leakage detecting system, its structure includes speed regulator (0), pipeline (1), explosion-proof steel ring (2), lower mounting bracket (3), prop up shore (4), connection pad (5), its characterized in that:
the anti-explosion steel ring is characterized in that the connecting disc (5) is fixed on the left side of the conveying pipeline (1), the speed regulator (0) is vertically installed on the right side above the conveying pipeline (1), more than two supporting columns (4) are arranged and installed at the bottom of the conveying pipeline (1), the lower installation frame (3) is fastened below the supporting columns (4), and more than two anti-explosion steel rings (2) are arranged and surround the outer surface of the conveying pipeline (1);
the conveying pipeline (1) is composed of an outer pressure device (11), an inner vibration mechanism (22), an inner conveying pipe (33) and a buckling frame (44), the inner vibration mechanism (22) is fixedly arranged on the outer surface of the inner conveying pipe (33), the outer pressure device (11) is tightly attached to the outer surface of the inner vibration mechanism (22), and the buckling frame (44) is provided with more than two parts and is vertically fixed at the left end and the right end of the inner vibration mechanism (22).
2. A natural gas leak detection system according to claim 1, wherein: interior mechanism (22) that shakes comprises tablet (220), embedded piece (221), connecting rail (222), experience frame (223), the spring that shakes (224) of exerting pressure, embedded piece (221) sets firmly at the surface in defeated pipe (33), experience frame (223) are equipped with threely and locate the inside of embedded piece (221), connecting rail (222) are installed in the centre of two experience frames (223), it is located the top of connecting rail (222) to exert pressure piece (220), the inside in experience frame (223) is connected in spring that shakes (224).
3. A natural gas leak detection system according to claim 1, wherein: outer pressure device (11) are by outer embedded sheet (110), look device (111) outward, adjust way (112), urgent ring (113), piezoelectric device (114) and constitute, piezoelectric device (114) are connected in the inside bottom of outer embedded sheet (110), it is equipped with two and is located the inside both ends of controlling of outer embedded sheet (110) to adjust way (112), urgent ring (113) are installed between piezoelectric device (114) and look device (111) outward, look device (111) outward and set firmly at the inside top of outer embedded sheet (110), the surface of embedded sheet (221) including the laminating of outer embedded sheet (110).
4. A natural gas leak detection system according to claim 3, wherein: the piezoelectric device (114) is composed of a piezoelectric sheet (140), a pair of top heads (141), a power supply line (142), a high-voltage spring (143) and a receiving sheet (144), wherein the receiving sheet (144) is buckled at the bottom of the piezoelectric sheet (140) and connected with a pressing sheet (220), the pair of top heads (141) is provided with more than two and is inserted and embedded above the receiving sheet (144), the high-voltage spring (143) is provided with two and is arranged on the inner side of the piezoelectric sheet (140), and the power supply line (142) is connected to the left end and the right end of the piezoelectric sheet (140).
5. A natural gas leakage detection system and a method of using the same according to any one of claims 1-4, wherein:
the connecting rail (222) and the sensing frame (223) are tightly attached to the pipeline, once slight natural gas leakage occurs, the connecting rail (222) and the sensing frame (223) are pushed outwards, the vibrating spring (224) is compressed, the vibrating spring drives the pressing sheet (220) to move outwards to push the piezoelectric device (114), natural gas leakage in any mode of any volume can be sensed, the alertness is higher, and pressure transmitted by the pressing sheet (220) can be received;
and pressure is caused to the piezoelectric plate (140) through the receiving plate (144) and the butting head (141), corresponding electric quantity is conducted to the conducting wire (1113) according to the pressure, the conducting wire (1113) is electrified to the electric plate (1112), the flashing plate (1111) at the corresponding position starts flashing, signals are sent to the outside at the same time, and a worker can quickly find the corresponding leakage position when arriving at the site to timely process and stop the loss.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110136817.1A CN113029476A (en) | 2019-11-15 | 2019-11-15 | Natural gas leakage detection system and use method thereof |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911117461.6A CN110763414B (en) | 2019-11-15 | 2019-11-15 | Natural gas leakage detection system |
| CN202110136817.1A CN113029476A (en) | 2019-11-15 | 2019-11-15 | Natural gas leakage detection system and use method thereof |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911117461.6A Division CN110763414B (en) | 2019-11-15 | 2019-11-15 | Natural gas leakage detection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113029476A true CN113029476A (en) | 2021-06-25 |
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110136817.1A Withdrawn CN113029476A (en) | 2019-11-15 | 2019-11-15 | Natural gas leakage detection system and use method thereof |
| CN201911117461.6A Active CN110763414B (en) | 2019-11-15 | 2019-11-15 | Natural gas leakage detection system |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911117461.6A Active CN110763414B (en) | 2019-11-15 | 2019-11-15 | Natural gas leakage detection system |
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| Country | Link |
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| CN (2) | CN113029476A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116852399A (en) * | 2023-09-05 | 2023-10-10 | 陕西能控安远智能技术有限公司 | Multipurpose explosion-proof robot |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0052957B1 (en) * | 1980-11-21 | 1985-09-11 | Imperial Chemical Industries Plc | Method and apparatus for leak detection in pipelines |
| GB2358246A (en) * | 2000-01-05 | 2001-07-18 | Palmer Environmental Ltd | Determining the position of a signal from a pipe |
| CN2729677Y (en) * | 2004-09-14 | 2005-09-28 | 谢绍明 | Automatic leakage of monitoring device for pipeline |
| CN100394099C (en) * | 2006-05-29 | 2008-06-11 | 重庆灵鉴检测仪器有限公司 | Pipeline leakage signal sensing device |
| BR112017016918A2 (en) * | 2015-02-06 | 2019-11-12 | Proper Pipe Inc | electrofusion pipe systems, methods and fittings |
| CN204533855U (en) * | 2015-02-09 | 2015-08-05 | 孟涛 | A kind of pipeline |
| CN107559603A (en) * | 2016-06-30 | 2018-01-09 | 天津智付科技有限公司 | A kind of pipeline leakage testing device |
| CN206973276U (en) * | 2017-03-13 | 2018-02-06 | 辽河石油勘探局 | Oil-gas pipeline leak source nondestructive testing instrument |
| CN109115423B (en) * | 2018-07-23 | 2020-09-22 | 赵俊芳 | Leakage detecting system and method for flange, welding line, pipeline or equipment body |
| CN209012801U (en) * | 2018-08-07 | 2019-06-21 | 天津圣鑫船舶工程有限公司 | A kind of oil and gas pipeline leakage point detection device |
-
2019
- 2019-11-15 CN CN202110136817.1A patent/CN113029476A/en not_active Withdrawn
- 2019-11-15 CN CN201911117461.6A patent/CN110763414B/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116852399A (en) * | 2023-09-05 | 2023-10-10 | 陕西能控安远智能技术有限公司 | Multipurpose explosion-proof robot |
| CN116852399B (en) * | 2023-09-05 | 2023-11-17 | 陕西能控安远智能技术有限公司 | Multipurpose explosion-proof robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110763414A (en) | 2020-02-07 |
| CN110763414B (en) | 2021-04-09 |
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Application publication date: 20210625 |
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