CN113251320A - Take cable pipeline check out test set area to press send-receiver device - Google Patents
Take cable pipeline check out test set area to press send-receiver device Download PDFInfo
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- CN113251320A CN113251320A CN202110507196.3A CN202110507196A CN113251320A CN 113251320 A CN113251320 A CN 113251320A CN 202110507196 A CN202110507196 A CN 202110507196A CN 113251320 A CN113251320 A CN 113251320A
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- 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
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- General Engineering & Computer Science (AREA)
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Abstract
The invention discloses a receiving and sending device under pressure for a cabled pipeline detection device, which comprises: the sealing cover is arranged on the hollow telescopic rod, the hollow telescopic rod is positioned in the receiving and transmitting cylinder, and the receiving and transmitting cylinder consists of an upper flange end cover, a receiving and transmitting main body, a pressing ball valve, a lower flange end cover and a water taking ball valve; the upper flange end cover and the lower flange end cover are respectively positioned at two ends of the transceiving main body, the pressing ball valve is positioned on the transceiving main body, and the water taking ball valve is positioned on the lower flange end cover; the hollow telescopic rod is composed of a sealing flange, a hollow rod, a movable sealing part, a connecting piece and a guide hose, wherein the sealing flange is installed at one end of the hollow rod, the movable sealing part and the guide hose are installed at the other end of the hollow rod, and the sealing flange is connected with a sealing cover. The invention realizes the putting and the recovery of the detector in the pipeline.
Description
Technical Field
The invention relates to the field of pipeline leakage detection, in particular to a pressurized receiving and sending device of cabled pipeline detection equipment.
Background
In urban water delivery networks, daily maintenance and troubleshooting of various pipelines buried underground are indispensable works. At present, various detection methods for water pipelines exist, wherein a pipeline detector is adopted to perform maintenance detection, which is one of the main methods. How to put in the whole process of carrying out the detection task of detection equipment in the pipeline is a troublesome problem that faces in the industry all the time, and especially when the pipeline normally works (presses the pressure), the putting in difficulty is more difficult and serious. Therefore, a throwing and recycling device for the in-pipeline detector is urgently needed.
A simple device for putting a pipeline robot under pressure is proposed in document CN201821615758, but the device can only carry out putting tasks, and cannot recycle equipment. The document CN202010237095.4 proposes a ball type detector loading and retrieving device, which realizes the function of sending and receiving a device, but cannot send and receive a cable detection device.
Disclosure of Invention
The invention provides a pressurized receiving and sending device of a cabled pipeline detection device, which realizes the throwing and the recovery of a detector in a pipeline and is described in detail in the following description:
an under-pressure receiving and sending device of a cabled pipeline detection device, comprising: a sealing cover is arranged on the upper portion of the shell,
the sealing cover is arranged on the hollow telescopic rod, the hollow telescopic rod is positioned in the receiving and sending cylinder, and the receiving and sending cylinder consists of an upper flange end cover, a receiving and sending main body, a pressing ball valve, a lower flange end cover and a water taking ball valve;
the upper flange end cover and the lower flange end cover are respectively positioned at two ends of the transceiving main body, the pressing ball valve is positioned on the transceiving main body, and the water taking ball valve is positioned on the lower flange end cover;
the hollow telescopic rod is composed of a sealing flange, a hollow rod, a movable sealing part, a connecting piece and a guide hose, wherein the sealing flange is installed at one end of the hollow rod, the movable sealing part and the guide hose are installed at the other end of the hollow rod, and the sealing flange is connected with a sealing cover.
The sealing cover consists of a sealing nut, a sealing gasket, a cover body, a sealing support ring, a water inlet ball valve, an exhaust nut, a pressure gauge and a chuck;
the upper surface of the cover body is provided with a threaded hole for fixing an exhaust nut and a perforated groove for fixing a sealing nut, the center of the bottom of the perforated groove is provided with a cable passing round hole, and the perforated groove is sequentially provided with a sealing support ring, a sealing gasket and the sealing nut from inside to outside;
round holes are formed in the centers of the sealing support ring, the sealing gasket and the sealing nut, and the axes of the round holes are superposed with the axes of the cable passing round holes;
the lid bilateral symmetry is equipped with pressure measurement cantilever and water inlet cantilever, and pressure measurement cantilever end-to-end connection manometer, water inlet cantilever end-to-end connection ball valve of intaking.
Further, the movable sealing part is hollow cylinder-shaped in shape and comprises: a movable sealing main body, a movable outer sealing ring, a movable inner sealing ring, a movable guide belt, a retaining ring fixing screw and a sealing main body retaining ring,
the movable outer sealing ring and the movable guide belt are arranged on the excircle of the movable sealing main body, the movable inner sealing ring is arranged on the inner circle of the movable sealing main body, and the sealing main body check ring is arranged in the limit groove of the hollow rod and is fixed on the movable sealing main body by using check ring fixing screws.
Furthermore, the bottom of the hollow rod is provided with a joint thread, and a connecting piece is arranged on the joint thread; the guide hose is fixed on the connecting piece through the guide hose fixing hole. The lower flange end cover is arranged on a lower flange interface at the bottom of the receiving and transmitting cylinder main body; the side surface of the flange plate of the lower flange end cover is provided with a water taking hole, the middle of the flange plate is provided with a middle hole, and the water taking ball valve is arranged on the water taking hole.
The technical scheme provided by the invention has the beneficial effects that:
1. the receiving and dispatching cylinder device adopted by the invention can be used for placing pipeline detection equipment and can freely extend into a pipeline through the pipeline gate valve by arranging the hollow telescopic rod capable of moving up and down. The detection equipment can be guided through the hose at one end of the hollow telescopic rod, and the detection equipment and the cable can be protected in the releasing and recovering processes;
2. the receiving and dispatching cylinder device adopted by the invention can control the hollow piston rod to move downwards or upwards by arranging the pressing ball valve, and the detection equipment is flushed into the pipeline by arranging the water inlet ball valve and using high-pressure water;
3. according to the receiving and dispatching cylinder device, the sealing cover with the cable-passing sealing hole can be used for putting the cable-carrying pipeline detection equipment, and the sealing structure can effectively prevent high-pressure water in the pipeline from overflowing out of the receiving and dispatching cylinder device;
4. the receiving and dispatching cylinder device provided by the invention realizes the throwing and recovery of the cabled pipeline detection equipment during normal operation of the pipeline through the hollow telescopic rod, has powerful functions and is simple and convenient to operate, and is suitable for various pipeline online detection tasks.
Drawings
FIG. 1 is a schematic view of the appearance of a pressurized transmitting and receiving device of a cabled pipeline detection device;
FIG. 2 is a cross-sectional view of the pressurized transmitting and receiving device of the cabled pipe inspection apparatus;
FIG. 3 is a view showing the structure of the sealing cover;
FIG. 4 is a view of the upper flange end cap installation configuration;
FIG. 5 is a view of the movable plug installation;
FIG. 6 is a view of the installation structure of the lower flange end cover;
FIG. 7 is a schematic diagram of a drop-in of a cabled pipeline inspection device;
FIG. 8 is a diagram of a throwing apparatus of the pressurized receiving and dispatching device of the cabled pipeline detection apparatus;
fig. 9 is a drawing of a recovery device of the under-pressure receiving and dispatching device of the cabled pipeline detection device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below.
In order to achieve the above object, referring to fig. 1, an embodiment of the present invention provides a pressurized transceiver for a cabled pipeline detection device, including: the device comprises a sealing cover 1, a hollow telescopic rod 2 and a receiving and dispatching cylinder 3.
Wherein, sealed lid 1 sets up on hollow telescopic link 2, and hollow telescopic link 2 is located receiving and dispatching section of thick bamboo 3 inside, freely movable from top to bottom. As shown in fig. 2, which is a cross-sectional view of the pressurized transceiver of the cabled pipeline detecting device, the transceiver 3 is composed of an upper flange end cover 31, a transceiver main body 32, a pressing ball valve 33, a lower flange end cover 34 and a water intake ball valve 35. The upper flange end cover 31 and the lower flange end cover 34 are respectively positioned at two ends of the transceiving main body 32, the pressing ball valve 33 is positioned on the transceiving main body 32, and the water taking ball valve 35 is positioned on the lower flange end cover 34. The hollow telescopic rod 2 consists of a sealing flange 21, a hollow rod 22, a movable sealing part 23, a guide hose connecting piece 24 and a guide hose 25, wherein the hollow rod 22 is in a circular tube shape, one end of the hollow rod is provided with the sealing flange 21, and the other end of the hollow rod is provided with the movable sealing part 23 and the guide hose 25. The sealing flange 21 is connected to the sealing cap 1.
As shown in fig. 3, the sealing cover 1 is composed of a sealing nut 11, a sealing gasket 12, a cover body 13, a sealing support ring 14, a water inlet ball valve 15, an exhaust nut 16, a pressure gauge 17 and a chuck 18. The lid 13 is formed in a disk shape, and a screw hole for fixing the exhaust nut 16 and a perforated groove 135 for fixing the seal nut 11 are provided on an upper surface 132 of the lid 13. The center of the bottom of the groove 135 with the hole is provided with a round hole 136 for passing the cable. The perforated groove 135 is provided with the seal support ring 14, the seal gasket 12 and the seal nut 11 in this order from the inside to the outside. The centers of the sealing support ring 14, the sealing gasket 12 and the sealing nut 11 are all provided with round holes, and the axes of the round holes are superposed with the axis of the cable passing round hole 136. The above-mentioned device (11, 12, 14, 136) is used for threading cables. The lid 13 bilateral symmetry is equipped with pressure measurement cantilever 131 and water inlet cantilever 133, and manometer 17 is connected to pressure measurement cantilever 131 terminal, and water inlet cantilever 133 terminal is connected into water ball valve 15. The lower end face of the lid 13 is provided with a lid flange 134 having a size corresponding to the sealing flange 21. The chuck 18 is used for locking the cover body flange plate 134 and the sealing flange 21 to realize the connection between the sealing cover 1 and the hollow telescopic rod 2.
When the hollow telescopic rod 2 moves freely in the receiving and dispatching cylinder 3, there are many ways of realizing the movement, and one of the ways is illustrated in the embodiment, as shown in fig. 4 and 5. The upper flange end cap 31 is mounted on one end of the transceiver body 32 and is specifically screwed onto the flange upper port 323. The upper flange end cover 31 includes: an upper flange main body 311, a dust ring 312, a guide belt 313, a flange outer sealing ring 314 and a flange inner sealing ring 315. The diameter of the flange inner circle 3111 is the same as the diameter of the hollow rod outer circle 222, and the flange inner circle and the hollow rod outer circle are in clearance fit with each other. Next, a dust seal 312, a guide belt 313, and an inner flange seal 315 are mounted on the inner flange circle 3111. The dust ring 312 is used for preventing external foreign matters from entering the pressure chamber 36 of the transceiver cylinder along with the hollow rod 22 when the hollow rod 22 moves up and down, the guide belt 313 is used for providing a guide and supporting function for the hollow rod 22, and the inner sealing ring 315 of the flange is used for preventing liquid in the pressure chamber 36 of the transceiver cylinder from leaking. The flange outer circle 3112 is provided with a flange outer sealing ring 314 for sealing the outside with the transceiver pressure chamber 36.
Further, a pressing fixing hole 322 is arranged below the flange upper connector 323 and used for installing the pressing ball valve 33.
As shown in fig. 5, the movable sealing portion 23 has a hollow cylindrical shape, and is composed of a movable sealing main body 231, a movable outer sealing ring 232, a movable inner sealing ring 233, a movable guide belt 234, a retainer ring fixing screw 235, and a sealing main body retainer ring 236. The inner circle 2311 of the sealing body and the outer circle 222 of the hollow rod have the same diameter and are in clearance fit with each other, sealing is achieved through the movable inner sealing ring 233 on the sealing body, and the function is to achieve free flow of fluid between the upper pressure chamber 361 and the lower pressure chamber 362. The sealing body outer circle 2312 has the same diameter as the inner wall 321 of the transceiver cylinder, and the movable sealing part 23 slides up and down in the transceiver cylinder 3 through clearance fit. In addition, a movable outer sealing ring 232 and a movable guide belt 234 are arranged on the outer circle 2312 of the sealing main body, and the functions of the sealing main body are sealing and supporting.
The sealing body retainer 236 is disposed in the retaining groove 221 of the hollow rod 22 and fixed to the movable sealing body 231 by the retainer fixing screw 235, so as to fixedly connect the movable sealing body 231 and the hollow rod 22. When the pressure in the upper pressure chamber 361 is greater than the pressure in the lower pressure chamber 362, the movable sealing portion 23 drives the hollow rod 22 to move downward, and when the pressure in the upper pressure chamber 361 is less than the pressure in the lower pressure chamber 362, the movable sealing portion 23 drives the hollow rod 22 to move upward.
The hollow stem 22 is provided at the bottom with a nipple screw 225, and the guide hose connector 24 is fixed to the nipple screw 225. The guide hose 25 is fixed to the guide hose connector 24 through the guide hose fixing hole 241, and the guide hose has a guiding function. Preferably, the guide hose 25 is a stainless steel corrugated hose, and the cumbersome other end of the guide hose 25 passes through a central hole 342 (see fig. 6) in the lower flange end cap 34.
As shown in fig. 6, the lower flange end cap 34 is mounted to the flange lower port 324 at the bottom of the transceiver cage body 32. The side surface of the flange plate of the lower flange end cover 34 is provided with a water taking hole 341, the middle part is provided with a middle hole 342, and the water taking ball valve 35 is arranged on the water taking hole 341.
Further, as shown in fig. 7, the hollow rod chamber 226 is used for accommodating the cabled pipe detection device 41, and the space capacity can be changed according to the size of the cabled pipe detection device 41 (the detector illustrated in the figure is only an example, and the shape and structure are not limited), which is not limited by the embodiment of the present invention.
The cabled pipe detection device 41 can slide from one end of the hollow telescopic rod 2 to the other. The detection device cable 42 passes through the seal support ring 14, the seal packing 12 and the seal nut 11 of the seal cover 1 in sequence. In operation, high pressure liquid is pumped from the water inlet ball valve 15, so that the hydraulic pressure above the cabled pipe detection device 41 rises, and the cabled pipe detection device 41 is pushed to move downwards.
The working principle of the device of the present invention is further described with reference to fig. 8 and 9 by taking a nodular flexible device (patent publication No. CN110426800A) as an example (hereinafter referred to as the detection device 4).
As shown in fig. 8, the transceiver is installed, and the release preparation work and steps are as follows:
1) the hollow telescopic rod 2 is pulled out upwards until the tail end of the bottom guide hose 25 is flush with the bottom of the lower flange end cover 34;
2) the sealing cover 1 is detached from the hollow piston rod 4, the detection equipment 4 is placed in the hollow telescopic rod 2, the sealing cover 1 is installed back, and the detection equipment cable 42 is ensured to sequentially penetrate through the sealing support ring 14, the sealing gasket 12 and the sealing nut 11 on the sealing cover 1;
3) the lower flange end cover 35 is fixed on a flange of the gate valve 5 (the gate valve 5 is connected with the pipeline 6 through the pipeline short section 61), and the gate valve 5 is slowly opened on the premise that the water inlet ball valve 15 and the water taking ball valve 35 are closed and the pressure ball valve 33 is opened. Meanwhile, the exhaust nut 16 is slowly opened, when liquid overflows from the exhaust hole, the exhaust nut 16 is screwed to death, and at the moment, the hollow telescopic rod 2 is full of water;
4) observing the value of the pressure gauge 17, and completely opening the gate valve 5 when the pressure value is equivalent to the pressure of the pipeline;
5) high-pressure water is pumped from the pressurizing ball valve 33, when the pressure of the upper pressure chamber 361 is higher than that of the lower pressure chamber 362, the movable sealing part 23 starts to move downwards, and simultaneously the hollow rod 22, the guide hose 25, the sealing cover 1 and the detection device 4 move downwards together. When the lower end of the sealing cover 1 contacts the upper flange end cover 31, the pressing is stopped, the pressing ball valve 33 is closed, the hollow telescopic rod 2 does not move upwards or downwards any more, and the guide hose 25 passes through the gate valve 5 at the moment, and the tail end of the guide hose penetrates into the inner part of the pipeline 6, as shown in fig. 9;
6) high-pressure water is pumped from the water inlet ball valve 15, the detection equipment 4 moves downwards under the impact of the high-pressure water, the pressurizing is stopped until the detection equipment 4 completely enters the pipeline 6, the water inlet ball valve 15 is closed, and the putting process of the detector is completed.
The detection device 4 drives the guide hose 25 to bend towards the flowing direction of the water flow under the washing of the water flow, and at the moment, the detection device cable 42 slides forwards along the pulling force of the detection device 4 in the arc pipeline formed by the guide hose 25.
The recovery detection device 4 comprises the following steps:
1) pulling back the detection device 4 by means of the detection device cable 42;
2) when the tail end of the detection device 4 contacts the guide hose 25, the tail end of the detection device returns to the hollow rod 22 along the guide hose 25;
3) slowly opening the pressing ball valve 33, and at the moment, driving the detection equipment 4 to move upwards together by the hollow telescopic rod 2 under the water pressure in the pipeline 6;
4) when the movable sealing part 23 slides upwards until the movable sealing part can not move any more, the guide hose 25 completely enters the receiving and dispatching cylinder 3, and the gate valve 5 is closed;
5) after the gate valve 5 is closed, the exhaust knob 16 and the water intake ball valve 35 are opened to drain the water in the hollow telescopic rod 2.
6) The sealing cover 1 is opened to take back the detection device 4, and the recovery process is completed.
In the embodiment of the present invention, except for the specific description of the model of each device, the model of other devices is not limited, as long as the device can perform the above functions.
Those skilled in the art will appreciate that the drawings are only schematic illustrations of preferred embodiments, and the above-described embodiments of the present invention are merely provided for description and do not represent the merits of the embodiments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. The utility model provides a cabled pipe check out test set area is pressed and is received and dispatch device which characterized in that, the device includes: a sealing cover is arranged on the upper portion of the shell,
the sealing cover is arranged on the hollow telescopic rod, the hollow telescopic rod is positioned in the receiving and sending cylinder, and the receiving and sending cylinder consists of an upper flange end cover, a receiving and sending main body, a pressing ball valve, a lower flange end cover and a water taking ball valve;
the upper flange end cover and the lower flange end cover are respectively positioned at two ends of the transceiving main body, the pressing ball valve is positioned on the transceiving main body, and the water taking ball valve is positioned on the lower flange end cover;
the hollow telescopic rod is composed of a sealing flange, a hollow rod, a movable sealing part, a connecting piece and a guide hose, wherein the sealing flange is installed at one end of the hollow rod, the movable sealing part and the guide hose are installed at the other end of the hollow rod, and the sealing flange is connected with a sealing cover.
2. The under-pressure receiving and dispatching device of the cabled pipeline detection equipment according to claim 1, wherein the sealing cover is composed of a sealing nut, a sealing gasket, a cover body, a sealing support ring, a water inlet ball valve, an exhaust nut, a pressure gauge and a chuck;
the upper surface of the cover body is provided with a threaded hole for fixing an exhaust nut and a perforated groove for fixing a sealing nut, the center of the bottom of the perforated groove is provided with a cable passing round hole, and the perforated groove is sequentially provided with a sealing support ring, a sealing gasket and the sealing nut from inside to outside;
round holes are formed in the centers of the sealing support ring, the sealing gasket and the sealing nut, and the axes of the round holes are superposed with the axes of the cable passing round holes;
the lid bilateral symmetry is equipped with pressure measurement cantilever and water inlet cantilever, and pressure measurement cantilever end-to-end connection manometer, water inlet cantilever end-to-end connection ball valve of intaking.
3. The under-pressure receiving and dispatching device for the cabled pipeline detection equipment according to claim 1, wherein the movable sealing part is hollow cylindrical in shape and comprises: a movable sealing main body, a movable outer sealing ring, a movable inner sealing ring, a movable guide belt, a retaining ring fixing screw and a sealing main body retaining ring,
the movable outer sealing ring and the movable guide belt are arranged on the outer circle of the sealing main body and are used for sealing and supporting respectively;
the movable inner sealing ring is arranged on the inner circle of the movable sealing main body, and the sealing main body check ring is arranged in the limit groove of the hollow rod and is fixed on the movable sealing main body by the check ring fixing screw.
4. The under-pressure receiving and dispatching device for the cabled pipeline detection equipment according to claim 1, wherein a joint thread is arranged at the bottom of the hollow rod, and a connecting piece is arranged on the joint thread;
the guide hose is fixed on the connecting piece through the guide hose fixing hole.
5. The under-pressure transceiving device of the cabled pipeline detection apparatus according to claim 3, wherein the lower flange end cap is mounted on a lower flange port at the bottom of the transceiving cylinder main body;
the side surface of the flange plate of the lower flange end cover is provided with a water taking hole, the middle of the flange plate is provided with a middle hole, and the water taking ball valve is arranged on the water taking hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110507196.3A CN113251320B (en) | 2021-05-10 | 2021-05-10 | Take cable pipeline check out test set to press receiving and dispatching device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110507196.3A CN113251320B (en) | 2021-05-10 | 2021-05-10 | Take cable pipeline check out test set to press receiving and dispatching device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113251320A true CN113251320A (en) | 2021-08-13 |
| CN113251320B CN113251320B (en) | 2022-07-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110507196.3A Active CN113251320B (en) | 2021-05-10 | 2021-05-10 | Take cable pipeline check out test set to press receiving and dispatching device |
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| Country | Link |
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| CN (1) | CN113251320B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113753659A (en) * | 2021-09-26 | 2021-12-07 | 天津精仪精测科技有限公司 | Spiral cable pulling device and using method |
| CN113979296A (en) * | 2021-10-28 | 2022-01-28 | 武汉中仪物联技术股份有限公司 | Detector throwing device |
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| CN2137988Y (en) * | 1992-07-06 | 1993-07-14 | 胜利石油管理局油建一公司 | Transmission and receiving device for painter in steel tube |
| CN206392846U (en) * | 2017-01-22 | 2017-08-11 | 广州德志金属制品有限公司 | A kind of magnesium alloy regrinding-material automatic recycling device |
| CN110426800A (en) * | 2019-07-09 | 2019-11-08 | 天津精仪精测科技有限公司 | A kind of nodular flexible apparatus |
| CN110762288A (en) * | 2019-11-18 | 2020-02-07 | 西南石油大学 | Accurate positioning fine-tuning device of intelligent pipeline plugging robot |
| CN111155931A (en) * | 2018-11-07 | 2020-05-15 | 派格水下技术(广州)有限公司 | Drilling system for geological exploration drilling |
| CN111396692A (en) * | 2020-03-30 | 2020-07-10 | 北京交通大学 | Gravity-action small-caliber oil pipeline spherical detector throwing and recycling device |
| CN111911746A (en) * | 2020-09-04 | 2020-11-10 | 赵宁 | Device for injecting or recovering robot into pressure pipeline under pressure |
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2021
- 2021-05-10 CN CN202110507196.3A patent/CN113251320B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2137988Y (en) * | 1992-07-06 | 1993-07-14 | 胜利石油管理局油建一公司 | Transmission and receiving device for painter in steel tube |
| CN206392846U (en) * | 2017-01-22 | 2017-08-11 | 广州德志金属制品有限公司 | A kind of magnesium alloy regrinding-material automatic recycling device |
| CN111155931A (en) * | 2018-11-07 | 2020-05-15 | 派格水下技术(广州)有限公司 | Drilling system for geological exploration drilling |
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| CN110762288A (en) * | 2019-11-18 | 2020-02-07 | 西南石油大学 | Accurate positioning fine-tuning device of intelligent pipeline plugging robot |
| CN111396692A (en) * | 2020-03-30 | 2020-07-10 | 北京交通大学 | Gravity-action small-caliber oil pipeline spherical detector throwing and recycling device |
| CN111911746A (en) * | 2020-09-04 | 2020-11-10 | 赵宁 | Device for injecting or recovering robot into pressure pipeline under pressure |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113753659A (en) * | 2021-09-26 | 2021-12-07 | 天津精仪精测科技有限公司 | Spiral cable pulling device and using method |
| CN113753659B (en) * | 2021-09-26 | 2022-11-11 | 天津精仪精测科技有限公司 | Spiral cable pulling device and using method |
| CN113979296A (en) * | 2021-10-28 | 2022-01-28 | 武汉中仪物联技术股份有限公司 | Detector throwing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113251320B (en) | 2022-07-05 |
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