CN115949830B - Motion balancing device of running device in pipeline and running device in pipeline - Google Patents
Motion balancing device of running device in pipeline and running device in pipeline Download PDFInfo
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- CN115949830B CN115949830B CN202211711676.2A CN202211711676A CN115949830B CN 115949830 B CN115949830 B CN 115949830B CN 202211711676 A CN202211711676 A CN 202211711676A CN 115949830 B CN115949830 B CN 115949830B
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- 210000001503 joint Anatomy 0.000 claims abstract description 5
- 238000005096 rolling process Methods 0.000 claims description 26
- 230000005484 gravity Effects 0.000 claims description 4
- 230000007547 defect Effects 0.000 abstract description 9
- 238000001514 detection method Methods 0.000 abstract description 9
- 230000009286 beneficial effect Effects 0.000 description 22
- 239000007789 gas Substances 0.000 description 5
- 239000003921 oil Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000003466 welding Methods 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 3
- 230000004907 flux Effects 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 239000010779 crude oil Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The invention provides a motion balancing device of an in-pipeline running device and the in-pipeline running device. The motion balancing device of the running device in the pipeline comprises: the balance device comprises an operation device fixing plate, a balance device main plate, a plurality of rib plates, a balance device fixing plate, a limit sleeve and a main shaft, wherein one side of the balance device fixing plate is arranged on the operation device fixing plate, the operation device fixing plate and the limit sleeve are sleeved on the main shaft, one side of the balance device main plate is rotatably arranged on the other side of the balance device fixing plate, the balance device main plate is rotatably sleeved on the main shaft, the other side of the balance device main plate is in butt joint with the limit sleeve, and two ends of the rib plates are in one-to-one correspondence with the limit sleeve and the balance device main plate. The circumferential thrust generated by medium turbulence is counteracted, the circumferential rotation force is converted into axial thrust, the axial thrust is increased, the passing capacity of the motion device in the pipeline is improved, and the positioning accuracy of the detection defects is improved.
Description
Technical Field
The invention relates to the technical field of pipeline cleaning and detection of long oil and gas pipelines, in particular to a motion balancing device of an in-pipeline running device and the in-pipeline running device.
Background
After long-term operation of the long-distance crude oil pipeline and the natural gas pipeline, the long-distance crude oil pipeline can have defects of sinking, corrosion, weld cracks and the like under the internal and external influences of complex external environments and complex internal media, and the pipeline needs to be detected regularly in order to ensure the safe operation of the pipeline. The most effective and widely accepted detection method for long oil and gas pipelines is pipeline magnetic flux leakage internal detection, and at present, the pipeline magnetic flux leakage internal detection technology has been developed into three-axis ultrahigh-definition magnetic flux leakage detection, and the detection precision is greatly improved. However, when the detector runs in the long-distance pipeline, the detector is pushed to advance by the transportation medium, and due to complex internal conditions in the pipeline, the power medium is not advection but turbulence in the pipeline, so that the detector irregularly rotates in the pipeline, the position of the detector is determined by the positioning wheel, and the rotation of the detector affects the position positioning precision of the detector. Although the current detector position positioning is realized by positioning wheels, positioning piles and GPS three-in-one positioning, the position of the detector is corrected, but the specific positioning precision of the defects is influenced.
Disclosure of Invention
The invention aims to solve the technical problem of providing a motion balancing device of an in-pipeline running device and the in-pipeline running device aiming at the defects of the prior art.
The technical scheme for solving the technical problems is as follows: a motion balancing apparatus for an in-line running apparatus comprising: the balance device comprises a running device fixing plate, a balance device main plate, a plurality of rib plates, a balance device fixing plate, a limit sleeve and a main shaft, wherein one side of the balance device fixing plate is arranged on the running device fixing plate, the running device fixing plate and the limit sleeve are sleeved on the main shaft, one side of the balance device main plate is rotatably arranged on the other side of the balance device fixing plate, the balance device main plate is rotatably sleeved on the main shaft, the other side of the balance device main plate is in butt joint with the limit sleeve, and a plurality of rib plates are in one-to-one correspondence with the limit sleeve and the balance device main plate at two ends of the rib plates.
The technical scheme of the invention has the beneficial effects that: the motion balancing device of the running device in the pipeline is arranged at the medium thrust end of the running device to offset the circumferential thrust generated by medium turbulence, so that the detector moves axially in the running process, the rotation motion is reduced, the circumferential rotation force is converted into the axial thrust, the axial thrust is increased, the passing capacity of the running device in the pipeline is improved, and the positioning accuracy of the detection defects is improved.
Further, the balance device main board middle part is installed first antifriction bearing, first bearing cover, main shaft cover, second antifriction bearing and second antifriction bearing cover, first antifriction bearing, main shaft cover, second antifriction bearing all overlap and establish on the main shaft, first bearing cover is established on the first antifriction bearing, the second bearing cover is established on the second antifriction bearing, the both ends one-to-one of main shaft cover with first bearing cover and second bearing cover are connected, a plurality of the one end of floor with the outer lane of balance device main board is connected, a plurality of the other end of floor with the outer lane of second bearing cover is connected, second antifriction bearing and second bearing cover with stop collar butt.
The beneficial effects of adopting the further technical scheme are as follows: the first rolling bearing and the second rolling bearing are in running fit with the main shaft, so that the circumferential rotation power is converted into axial thrust.
Further, the balancing device main board, the first bearing sleeve, the main shaft sleeve and the second bearing sleeve are integrally formed.
The beneficial effects of adopting the further technical scheme are as follows: and welding deformation is prevented, and the assembly precision requirements such as assembly precision, verticality, coaxiality and the like are ensured through finish machining.
Further, the balancing device main plate is rotatably installed at the other side of the balancing device fixing plate through a plurality of balls.
The beneficial effects of adopting the further technical scheme are as follows: the balancing device main board and the balancing device fixing board are tightly attached through the balls, and have proper pretightening force, so that the thrust force can be transmitted, the relative motion is rolling motion, and the motion resistance and friction and abrasion are reduced.
Further, grooves are formed in one side of the balancing device main plate and the other side of the balancing device fixing plate, and the balls are rotatably installed in the grooves.
The beneficial effects of adopting the further technical scheme are as follows: the grooves are beneficial to preventing the balls from falling down due to the action of gravity when the main plate of the balancing device and the fixing plate of the balancing device are loosened.
Further, the outer diameter value of the balance device main plate and the balance device fixing plate is smaller than or equal to eighty percent of the inner diameter value of the pipeline.
The beneficial effects of adopting the further technical scheme are as follows: meets the minimum passing requirement.
Further, a plurality of the rib plates are uniformly arranged at intervals along the circumferential direction of the balancing device main board, and the vertical range of the included angle between the rib plates and the balancing device main board is 10-30 degrees.
The beneficial effects of adopting the further technical scheme are as follows: the main board of the balancing device can rotate stably relative to the main shaft, so that the load intensity of the motion balancing device of the running device in the pipeline is improved, and the stability and reliability of the motion balancing device of the running device in the pipeline are improved.
Further, the limiting sleeve is sleeved on the main shaft through a countersunk bolt.
The beneficial effects of adopting the further technical scheme are as follows: the balance device is fixed on the main shaft through the limit sleeve and the countersunk bolt, a certain pretightening force is ensured between the main plate of the balance device and the fixing plate of the balance device, so that the balance device is tightly attached, and the balance device is prevented from sliding on the main shaft.
Further, one side of the balancing device fixing plate is mounted on the running device fixing plate through a plurality of fixing bolts.
The beneficial effects of adopting the further technical scheme are as follows: the installation and maintenance of the motion balancing device of the running device in the pipeline are facilitated.
In addition, the in-pipeline running device comprises the motion balancing device of the in-pipeline running device, and further comprises a detector, wherein the detector is mounted on a running device fixing plate.
The technical scheme of the invention has the beneficial effects that: the motion balancing device of the running device in the pipeline is arranged at the medium thrust end of the running device to offset the circumferential thrust generated by medium turbulence, so that the detector moves along the axial direction in the running process, the rotation motion is reduced, the circumferential rotation force is converted into the axial thrust, the axial thrust is increased, and the passing capacity of the motion device in the pipeline is improved. And the positioning accuracy of the detected defects is improved.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a schematic structural diagram of a motion balancing device according to an embodiment of the present invention.
Fig. 2 is a second schematic structural diagram of a motion balancing device according to an embodiment of the present invention.
Reference numerals illustrate: 1. a running device fixing plate; 2. a balancing device main board; 3. rib plates; 4. a fixing bolt; 5. a balancing device fixing plate; 6. a ball; 7. a first rolling bearing; 8. a first bearing housing; 9. a spindle sleeve; 10. a limit sleeve; 11. countersunk head bolts; 12. a second rolling bearing; 13. a second bearing sleeve; 14. a main shaft.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
As shown in fig. 1 and 2, an embodiment of the present invention provides a motion balancing apparatus for an in-pipe running apparatus, including: the balance device comprises a running device fixing plate 1, a balance device main plate 2, a plurality of rib plates 3, a balance device fixing plate 5, a limiting sleeve 10 and a main shaft 14, wherein one side of the balance device fixing plate 5 is installed on the running device fixing plate 1, the running device fixing plate 1 and the limiting sleeve 10 are sleeved on the main shaft 14, one side of the balance device main plate 2 is rotatably installed on the other side of the balance device fixing plate 5, the balance device main plate 2 is rotatably sleeved on the main shaft 14, the other side of the balance device main plate 2 is in butt joint with the limiting sleeve 10, and two ends of the plurality of rib plates 3 are in one-to-one correspondence with the limiting sleeve 10 and the balance device main plate 2.
The technical scheme of the invention has the beneficial effects that: the motion balancing device of the running device in the pipeline is arranged at the medium thrust end of the running device to offset the circumferential thrust generated by medium turbulence, so that the detector moves axially in the running process, the rotation motion is reduced, the circumferential rotation force is converted into the axial thrust, the axial thrust is increased, the passing capacity of the running device in the pipeline is improved, and the positioning accuracy of the detection defects is improved.
The operating device may be a detector or a cleaner.
As shown in fig. 1 and 2, further, the balance device main board 2 is provided with a first rolling bearing 7, a first bearing sleeve 8, a main shaft sleeve 9, a second rolling bearing 12 and a second bearing sleeve 13 in the middle, the first rolling bearing 7, the main shaft sleeve 9 and the second rolling bearing 13 are all sleeved on the main shaft 14, the first bearing sleeve 8 is sleeved on the first rolling bearing 7, the second bearing sleeve 13 is sleeved on the second rolling bearing 12, two ends of the main shaft sleeve 9 are in one-to-one correspondence with the first bearing sleeve 8 and the second bearing sleeve 13, one ends of a plurality of rib plates 3 are connected with an outer ring of the balance device main board 2, the other ends of a plurality of rib plates 3 are connected with an outer ring of the second bearing sleeve 13, and the second rolling bearing 12 and the second bearing sleeve 13 are in butt joint with the limit sleeve 10.
The beneficial effects of adopting the further technical scheme are as follows: the first rolling bearing and the second rolling bearing are in running fit with the main shaft, so that the circumferential rotation power is converted into axial thrust.
As shown in fig. 1 and 2, further, the balancing device main plate 2, the first bearing housing 8, the main shaft housing 9, and the second bearing housing 13 are integrally formed.
The beneficial effects of adopting the further technical scheme are as follows: and welding deformation is prevented, and the assembly precision requirements such as assembly precision, verticality, coaxiality and the like are ensured through finish machining.
Wherein, the balancing device main board 2, the first bearing sleeve 8, the main shaft sleeve 9 and the second bearing sleeve 13 can be formed by reverse deformation welding.
As shown in fig. 1 and 2, further, the balancer main plate 2 is rotatably mounted on the other side of the balancer fixing plate 5 by a plurality of balls 6.
The beneficial effects of adopting the further technical scheme are as follows: the balancing device main board and the balancing device fixing board are tightly attached through the balls, and have proper pretightening force, so that the thrust force can be transmitted, the relative motion is rolling motion, and the motion resistance and friction and abrasion are reduced.
As shown in fig. 1 and 2, further, grooves are formed on one side of the balance device main plate 2 and the other side of the balance device fixing plate 5, and the balls 6 are rotatably installed in the grooves.
The beneficial effects of adopting the further technical scheme are as follows: the grooves are beneficial to preventing the balls from falling down due to the action of gravity when the main plate of the balancing device and the fixing plate of the balancing device are loosened.
As shown in fig. 1 and 2, further, the outer diameter of the balance device main plate 2 and the balance device fixing plate 5 is less than or equal to eighty percent of the inner diameter of the pipe.
The beneficial effects of adopting the further technical scheme are as follows: meets the minimum passing requirement.
As shown in fig. 1 and 2, further, a plurality of rib plates 3 are uniformly spaced along the circumferential direction of the balancing device main plate 2, and the vertical range of the included angle between the rib plates 3 and the balancing device main plate 2 is 10 degrees to 30 degrees.
The beneficial effects of adopting the further technical scheme are as follows: the main board of the balancing device can rotate stably relative to the main shaft, so that the load intensity of the motion balancing device of the running device in the pipeline is improved, and the stability and reliability of the motion balancing device of the running device in the pipeline are improved.
As shown in fig. 1 and 2, further, the stop collar 10 is sleeved on the main shaft 14 through a countersunk bolt 11.
The beneficial effects of adopting the further technical scheme are as follows: the balance device is fixed on the main shaft through the limit sleeve and the countersunk bolt, a certain pretightening force is ensured between the main plate of the balance device and the fixing plate of the balance device, so that the balance device is tightly attached, and the balance device is prevented from sliding on the main shaft.
As shown in fig. 1 and 2, further, one side of the balance fixing plate 5 is mounted on the running gear fixing plate 1 by a plurality of fixing bolts 4.
The beneficial effects of adopting the further technical scheme are as follows: the installation and maintenance of the motion balancing device of the running device in the pipeline are facilitated.
As shown in fig. 1 and 2, a motion balancing device of a running device in a pipeline may be a motion balancing device of a running device in a long oil and gas transmission pipeline, and the motion balancing device comprises a running device fixing plate 1, a balancing device main plate 2, a rib plate 3, a fixing bolt 4, a balancing device fixing plate 5, balls 6, a first rolling bearing 7, a first bearing sleeve 8, a main shaft sleeve 9, a limiting sleeve 10, a countersunk head bolt 11, a second rolling bearing 12, a second bearing sleeve 13 and a main shaft 14.
The balancing device fixing plate 5 is fixed to the running device fixing plate 1 by a plurality of fixing bolts 4, and the number of the fixing bolts 4 is a multiple of 4 in relation to the size of the running device, i.e., the detector.
The balance device main board 2 and the balance device fixing board 5 are tightly attached through the balls 6, and have proper pretightening force, so that thrust force can be transmitted, relative motion is rolling motion, and motion resistance and friction and abrasion are reduced.
The balance device main board 2 has a convex surface on the matching surface with the balls 6, so that the balls 6 are prevented from falling down due to the action of gravity when the balance device main board 2 and the balance device fixing board 5 are loosened.
Rib plates 3 are arranged between the balancing device main board 2 and the first bearing sleeve 8, the main shaft sleeve 9 and the second bearing sleeve 13, and a plurality of rib plates 3 are evenly arranged at intervals along the circumferential direction.
The rib 3 is not perpendicular to the main plate 2 of the balancing device, and has a certain inclination angle of 10 ° to 30 °.
The balance device main board 2, the rib plates 3, the first bearing sleeve 18, the main shaft sleeve 9 and the second bearing sleeve 13 are integrally formed, welding deformation is prevented, and assembly precision requirements such as assembly precision, verticality and coaxiality are guaranteed through finish machining.
The center of the main board 2 of the balancing device is provided with a first bearing sleeve 8, a first rolling bearing 7 is arranged in the first bearing sleeve 8, the first bearing sleeve 8 is connected with one end of a main shaft sleeve 9, the other end of the main shaft sleeve 9 is connected with a second bearing sleeve 13, and a second rolling bearing 12 is arranged in the second bearing sleeve 13; the main shaft 14 of the running device penetrates into the main shaft sleeve 9, and the first rolling bearing 7 and the second rolling bearing 12 are in running fit with the main shaft 14, so that the circumferential rotation power is converted into axial thrust.
The balance device is fixed on the main shaft 14 through the limit sleeve 10 and the countersunk bolt 11, so that a certain pretightening force is ensured between the main plate 2 of the balance device and the fixing plate 5 of the balance device to realize close fitting, and the balance device is prevented from sliding on the main shaft.
The size of the balance device main plate 2 and the balance device fixing plate 5 are related to the minimum passage requirement of the pipe, and are generally not more than 80% of the inner diameter d of the pipe.
In sum, by integrally installing the balancing device on the running device (detector), the rotary motion of the running device (detector) can be greatly reduced for the rotary motion of the power medium in the oil and gas pipeline due to turbulent flow, and the positioning precision of defects in the oil and gas pipeline is improved; the circumferential rotation force can be converted into axial thrust, the axial thrust is increased, and the throughput of the operation device (detector) in the pipeline is improved.
Furthermore, an in-line running gear comprising a motion balancing device of an in-line running gear according to any one of the above, further comprising a detector mounted on the running gear fixing plate 1.
The technical scheme of the invention has the beneficial effects that: the motion balancing device of the running device in the pipeline is arranged at the medium thrust end of the running device to offset the circumferential thrust generated by medium turbulence, so that the detector moves along the axial direction in the running process, the rotation motion is reduced, the circumferential rotation force is converted into the axial thrust, the axial thrust is increased, and the passing capacity of the motion device in the pipeline is improved. And the positioning accuracy of the detected defects is improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (5)
1. A motion balancing apparatus for an in-line running apparatus, comprising: the balance device comprises a running device fixing plate, a balance device main plate, a plurality of rib plates, a balance device fixing plate, a limit sleeve and a main shaft, wherein one side of the balance device fixing plate is arranged on the running device fixing plate, the running device fixing plate and the limit sleeve are sleeved on the main shaft, one side of the balance device main plate is rotatably arranged on the other side of the balance device fixing plate, the balance device main plate is rotatably sleeved on the main shaft, the other side of the balance device main plate is in butt joint with the limit sleeve, and two ends of the plurality of rib plates are in one-to-one correspondence with the limit sleeve and the balance device main plate;
The balance device comprises a main board, a first rolling bearing, a first bearing sleeve, a main shaft sleeve, a second rolling bearing and a second bearing sleeve, wherein the first rolling bearing, the main shaft sleeve and the second rolling bearing are sleeved on the main shaft;
The balancing device main board, the first bearing sleeve, the main shaft sleeve and the second bearing sleeve are integrally formed;
The balancing device main board is rotatably arranged on the other side of the balancing device fixing board through a plurality of balls;
Grooves are formed in one side of the balancing device main board and the other side of the balancing device fixing board, and the balls are rotatably arranged in the grooves;
The rib plates are uniformly arranged at intervals along the circumferential direction of the balancing device main board, and the vertical range of an included angle between the rib plates and the balancing device main board is 10-30 degrees;
The balancing device main board is provided with a convex surface on the matching surface with the balls, so that the balls are prevented from falling down due to the action of gravity when the balancing device main board and the balancing device fixing board are loosened.
2. The motion balancing apparatus of claim 1, wherein the outer diameter of the balancing apparatus main plate and the balancing apparatus fixing plate is less than or equal to eighty percent of the inner diameter of the pipe.
3. The motion balancing device of an in-pipeline running device according to claim 1, wherein the limiting sleeve is sleeved on the main shaft through a countersunk bolt.
4. The motion balancing apparatus of an in-line running gear according to claim 1, wherein one side of the balancing apparatus fixing plate is mounted on the running gear fixing plate by a plurality of fixing bolts.
5. An in-line running gear comprising a running gear's motion balancing device according to any one of claims 1 to 4, and further comprising a detector mounted on the running gear's mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211711676.2A CN115949830B (en) | 2022-12-29 | 2022-12-29 | Motion balancing device of running device in pipeline and running device in pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211711676.2A CN115949830B (en) | 2022-12-29 | 2022-12-29 | Motion balancing device of running device in pipeline and running device in pipeline |
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| Publication Number | Publication Date |
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| CN115949830A CN115949830A (en) | 2023-04-11 |
| CN115949830B true CN115949830B (en) | 2024-06-25 |
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| CN202211711676.2A Active CN115949830B (en) | 2022-12-29 | 2022-12-29 | Motion balancing device of running device in pipeline and running device in pipeline |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4008947A1 (en) * | 2020-12-04 | 2022-06-08 | Bodus GmbH | Probe and system with such a probe |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE69611340T2 (en) * | 1995-10-31 | 2001-06-07 | Toshiba Kawasaki Kk | Transport device and movable drive device for a movable implement |
| JPH09236165A (en) * | 1995-12-28 | 1997-09-09 | Kenji Mimura | Differential device and manufacture of disc-form member used in the device |
| AUPP609298A0 (en) * | 1998-09-22 | 1998-10-15 | Water Corporation, The | Refurbishment of lined piplines |
| FR2795804B1 (en) * | 1999-07-02 | 2001-08-17 | Alstom | DEVICE FOR MOVING A MEMBER IN AN ELONGATED TUBE FROM AN END OF THIS TUBE |
| IT1315546B1 (en) * | 2000-11-14 | 2003-02-18 | Calpeda A Spa | DRIVE WHEEL FOR CENTRIFUGAL PUMPS |
| CA2369714C (en) * | 2001-01-31 | 2010-03-30 | Cal Holland | Robotic apparatus and method for treatment of conduits |
| JP2009195002A (en) * | 2008-02-13 | 2009-08-27 | Nsk Ltd | Reduction gear contained motor |
| CN202048304U (en) * | 2011-03-14 | 2011-11-23 | 中国石油大学(华东) | Gas pipeline online inner detector rotating propulsion system |
| CN102943693A (en) * | 2012-11-29 | 2013-02-27 | 哈尔滨汽轮机厂有限责任公司 | Efficient cooling turbine movable vane of gas turbine with low-heat and medium-heat values |
| KR102380320B1 (en) * | 2015-12-18 | 2022-03-30 | 현대중공업터보기계 주식회사 | Apparatus of balance for impeller |
| CN107489855B (en) * | 2017-08-08 | 2019-04-12 | 浙江海洋大学 | A kind of mixed power plant for gas pipeline crusing robot |
| BR102018072062B1 (en) * | 2018-10-26 | 2023-12-12 | Universidade Federal Do Rio Grande Do Sul - Ufrgs | INTERVENTION TRACTOR SYSTEM COMPRISING AN UMBILICAL |
| CN111536367B (en) * | 2020-05-09 | 2022-06-17 | 李柏松 | Speed-controllable unpowered pipeline detection robot |
| CN216758289U (en) * | 2021-07-16 | 2022-06-17 | 国家石油天然气管网集团有限公司 | Pipe cutting machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4008947A1 (en) * | 2020-12-04 | 2022-06-08 | Bodus GmbH | Probe and system with such a probe |
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