CN201382780Y - Automatic detection machine for internal coating of pipeline - Google Patents
Automatic detection machine for internal coating of pipeline Download PDFInfo
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- CN201382780Y CN201382780Y CN200920020827U CN200920020827U CN201382780Y CN 201382780 Y CN201382780 Y CN 201382780Y CN 200920020827 U CN200920020827 U CN 200920020827U CN 200920020827 U CN200920020827 U CN 200920020827U CN 201382780 Y CN201382780 Y CN 201382780Y
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Abstract
The utility model provides an automatic detection machine for the internal coating of a pipeline, and belongs to the field of measurement and detection of the coating thickness of a metal surface. The automatic detection machine comprises three part, namely a detection machine head, a driving machine body and a wireless remote controller, wherein, the detection machine head comprises a rotational part at the front half part and a fixed part at the back half part; the rotational part of the machine head comprises a front camera, a side camera, an illuminating lamp, and a thickness meter; the fixed part of the machine head comprises a motor, a speed reducer, a hollow shaft, a shaft sleeve, a gear and an annulus; the traveling motor, the contracting brake, the speed reducer, the gearbox and the driving wheel of the main body part are mounted at the back half part; and an airborne remote-control box, a battery pack, and a driven wheel are mounted at the front half part. The automatic detection machine moves in a pipeline under wireless remote control so as to detect coating defects and measure coating thickness, and transmit real-time images to an external display wirelessly, thereby realizing man-machine interaction. The utility model has the advantages of compact structure of the complete machine, reasonable layout, stable running, reliable operation, and high automatization efficiency, thereby being innovative equipment in machine-electricity-communication-optics integrated pipeline construction and having popularization and application prospect.
Description
(1) technical field
The utility model relates to the measurement of coating for metal surfaces thickness, and the especially detection of the measurement of steel conduit inside coating thickness and defective also relates to the device that can move voluntarily in pipeline.It particularly is a kind of pipeline coating automatic detecting machine.
(2) background technology
Whether the thickness of steel conduit inner wall anti-corrosive coating reaches requirement, whether there are flaw, defective or damage, the same with its outer wall anticorrosive coat, also be the significant problem that is related to pipework serviceable life and safe operation, cause the great attention of domestic and international pipework circle already.The detection of pipeline outer wall anticorrosive coat, existing multiple mature technology and specialized instrument and equipment.It is less so far to be exclusively used in the instrument and equipment that detects pipeline inner wall anti-corrosive coating.This is because the pipe interior detection difficulty is bigger than pipeline external detection difficulty.Be exclusively used in the aut.eq. that detects pipeline inner wall corrosion situation, succeed in developing by american commerce resin company and PLS company etc. already; Girth joint radiography aut.eq. in the pipeline is succeeded in developing by Britain JME company etc.; European patent EP 282687 is testing fixtures of a kind of metallic conduit inherent vice.Up to the nineties initial stage, do not see and openly report pipeline coating Automatic Measurement Technique information both at home and abroad.Shengli Oil Field oil was built a company and was applied for a patent of invention on Dec 11st, 1991---patch-up-coating machine capable of automatically examination inner wall coating or steel pipeline (91107953.X).Be characterized in removing to control operating trolley by the PC industrial control unit (ICU), independently walking in pipeline, and the program of setting earlier according to the order of sequence goes to finish internal coating detection and coating operation.Though its function is more, automaticity is higher, owing to adopt high electric spark detection probe, can puncture shallow layer, and new pipeline construction technology standard does not allow again with diminishing the detection technique method.Also, can not guarantee internally coated standing intact, so no longer suitable because the detection method of its walking scan-type can only be found greatly and significantly holiday." a kind of intelligent robot that is used for pipe detection " (02268360.7) and " the pipeline wireless remote control is observed machine " (03112105.5) had appearred again afterwards.The former just carries out omnidistance Direct observation, detection and video recording to corrosion, fouling, perforation, decortication, crackle, mismatch, distortion and the foreign object in pipe etc. that occur in the pipeline, and with wireless or wire transmission mode picture signal is sent to outside the pipe.Mainly be to provide foundation, and can not be used to detect pipeline coating for formulating repairing and arrangement and method for construction.Though the latter has the wireless remote control function, also the same with the former, all be that the macroscopic view of walking scan-type detects bigger defective in can only finding to manage.It mainly is the state of appearance that is used to observe the pipe welding port internal weld seams, can not be used to detect pipeline coating.The most important thing is that above-mentioned three patented technologies all can not detect the internally coated thickness of pipeline.Yet coating thickness but is an important technology index, and no matter weld bond place or all other internally coated thickness must reach the national technical standard requirement.
(3) summary of the invention
In view of above-mentioned prior art exists some shortcomings and weak point, the purpose of this utility model is autonomous innovation exactly, develops and provide a kind of distinguished pipeline coating automatic detecting machine.Wireless remote control outside it is subjected to managing in pipeline is finished internal coating automatically and is detected and thickness measure.The defective that is detected is trickleer, and the thickness measuring precision can reach the construction reference requirement.
Above-mentioned purpose is realized by following technical proposals:
The pipeline coating automatic detecting machine comprises and detects head, driving fuselage and wireless remote control three parts.It detects head forwardly, and driving machine is in the rear portion, adopt between the two slidingly lead, slide plate connects.Its wireless remote control part is made up of airborne portion in the pipe and the outer hand-held part of pipe.It is characterized in that, detect head by rotate, fixedly two parts are formed, rotating part is preceding, fixed part after, between the two by after swivel becket and internal gear connection.The head rotating part is made up of rotation case, preceding end ring, medium-height trestle ring, back swivel becket, preceding camera, illuminating lamp, side camera, probe mechanism, telescoping mechanism, thicknessmeter and interior camera.Before end ring, medium-height trestle ring, back swivel becket, be installed in front end, middle part, the rear end of rotation case respectively.On the preceding end ring front end-plate is installed, preceding camera is installed in the front end-plate center, and some illuminating lamps are uniform to be installed on the front end-plate periphery, and the side camera is installed in the anterior side of rotation case.Probe mechanism is installed on the telescoping mechanism, and protruding below the rotation case front portion.Telescoping mechanism is installed in medium-height trestle ring front, and thicknessmeter and interior camera are installed in medium-height trestle ring back.The head fixed part is made up of fixed housing, closed-loop, middle sustained ring, rear end cap, internal gear, tubular shaft, bearing holder (housing, cover), pinion wheel, harmonic speed reducer, head rotary electric machine and support.Closed-loop, middle sustained ring, rear end cap are installed in front end, middle part, the rear end of fixed housing respectively.Bearing holder (housing, cover) is installed on the tubular shaft, and bearing holder (housing, cover) front end and internal gear, back swivel becket three are fixedly connected, and the tubular shaft rear portion is installed on the middle sustained ring.Pinion wheel, harmonic speed reducer and head rotary electric machine three are one, and are installed on the fixed housing by support.Pinion wheel and internal gear engagement.Driving fuselage is made up of fuselage cover, underframe, front end end cover, engaged wheel, driving wheel, movable motor, speed reduction unit, gear case, airborne remote control box and electric battery.Movable motor, speed reduction unit and gear case three are one, are installed in the underframe rear portion by gear case.The two pairs of driving wheels are installed in and drive both sides below fuselage latter half of, and pair of driven is installed in and drives both sides below the front fuselage.Airborne remote control box and electric battery are installed in and drive the fuselage first half.The wireless remote control airborne portion is made up of Programmable Logic Controller, driver module, 9 pilot relays, DC relay, remote-receiver, antenna and power modules.Programmable Logic Controller is a control center, and its input end is connected with remote-receiver, power module and limit switch; Its output terminal is connected with 9 pilot relays, driver module, band-type brake and malfunction indicator lamp.Pilot relay is connected with the camera power supply with DC relay, the flexible motor of probe, lighting lamp power respectively again.DC relay is connected with the side camera with the head rotary electric machine respectively.The outer part of wireless remote control pipe is made up of remote controlled sending device, antenna, display and remote-control handle.The input end of remote controlled sending device is connected with antenna, remote-control handle, and its output terminal is connected with display, antenna.
The probe mechanism of above-mentioned pipeline coating automatic detecting machine, by Thicknesser probe, sliding lead, snap ring, backing plate, extension spring and limit switch form.Thicknesser probe is stuck on the snap ring, and snap ring is welded on the backing plate, and backing plate is fixed on sliding leading, and sliding leading is fixed on the expansion link; Another snap ring is fixed on the Thicknesser probe, holds with extension spring between two snap rings.Limit switch is fixed on the backing plate.
The telescoping mechanism of above-mentioned pipeline coating automatic detecting machine is made up of expansion link, limit switch and flexible motor.Flexible driven by motor expansion link and sliding leading are together stretched, by the flexible stroke of limit switch control.
The cunning at above-mentioned pipeline coating automatic detecting machine middle part is led, slide plate, be respectively fixed to and detect the head rear end cap, drive on the fuselage front end end cover, and drive slide plate and in sliding leading, move up and down by regulating leading screw, regulate the height that detects the head center, adapt to different calibers.
Two pairs of driving wheels of above-mentioned pipeline coating automatic detecting machine and pair of driven, all the outpacking rubber layer can increase friction force, skids when preventing climbing or descending, and damping effect is arranged.
The Programmable Logic Controller PLC of above-mentioned pipeline coating automatic detecting machine selects the FX1S-30MR-D of Mitsubishi type for use, has used 16 ports of its input end, 12 ports of output terminal.
According to the pipeline coating automatic detecting machine that technique scheme manufactures, two groups of some LED illuminating lamps are arranged, existing headlight has the ring lamp again, and illumination is enough bright, can see the coating tiny defect clearly.Its camera both can be seen to the dead ahead, can move up and down again to see that, the visual field is wider nearby, did not have blind vision area, can zero defect be arranged any position of comprehensive observation internal coating.Its side camera can radially closely be made a video recording among a small circle and be observed holiday, accurately locatees the thickness measuring point, and cooperates with thicknessmeter, finishes the coating thickness measurement of four somes position, upper and lower, left and right.Interior camera by being installed in thicknessmeter display screen opposite is transferred to the coating thickness data wireless outside the pipeline, is shown in real time by display, by airborne printer thickness data is printed simultaneously to store.This shows that this detection function reaches the purpose to meticulous detection of pipeline coating and nondestructive thickness measuring.Particularly its wireless remote control is multiple functional perfect, has realized pipe inside and outside " man-machine conversation ".Its head and fuselage, compact conformation, rationally distributed, operate steadily, reliable operation, robotization work efficiency height, the one-time detection distance can reach more than 1 kilometer, and grade climbing performance is preferably arranged, and can be used for Plain and mountain area.Be a kind of mechanical, electrical, news, light integral pipe construction autonomous innovation equipment, have popularizing application prospect.
(4) description of drawings
Accompanying drawing 1 is the main synoptic diagram of looking in one-piece construction of the present utility model left side.
Accompanying drawing 2 is that the A of Fig. 1 is to schematic top plan view.
Accompanying drawing 3 is detection head cross-sectional schematic of Fig. 1.
Accompanying drawing 5 is that radio remote control circuit of the present utility model is formed and the annexation block diagram.
Accompanying drawing 6 is operating process block diagrams of the present utility model.
(5) embodiment
Embodiment of accompanying drawings:
Accompanying drawing 1,2, in 3, the 1st, detect head, the 2nd, drive fuselage, the 3rd, rotation case, the 4th, fixed housing, the 5th, preceding camera, the 6th, side camera, the 7th, LED illuminating lamp, the 8th, preceding end ring, the 9th, flexible motor (M3), the 10th, medium-height trestle ring, the 11st, interior camera, the 12nd, back swivel becket, the 13rd, limit switch, the 14th, Thicknesser probe, the 15th, expansion link, the 16th, thicknessmeter, the 17th, closed-loop, the 18th, tubular shaft, the 19th, axle sleeve, the 20th, middle sustained ring, the 21st, rear end cap, the 22nd, internal gear, the 23rd, pinion wheel, the 24th, harmonic speed reducer, the 25th, support, the 26th, head rotary electric machine (M2), the 27th, slide and lead (slide plate), the 28th, regulate leading screw, the 29th, drive the fuselage front end end cover, the 30th, airborne remote control box, the 31st, movable motor band-type brake, the 32nd, movable motor (M1), the 33rd, reducer casing, the 34th, gear case, the 35th, power switch, the 36th, engaged wheel, the 37th, electric battery, the 38th, driving wheel, the 39th, underframe, the 40th, voltage table.
Shown in Fig. 1,3, the pipeline coating automatic detecting machine comprises and detects head 1, drives fuselage 2 and wireless remote control three parts that it detects head 1 forwardly, drives fuselage 2 at the rear portion, adopt between the two slidingly lead, slide plate connects.Its wireless remote control part is made up of airborne portion in the pipe and the outer hand-held part of pipe.It is characterized in that, detect head by rotate, fixedly two parts are formed.Rotating part is preceding, fixed part after.The head rotating part is made up of rotation case 3, preceding end ring 8, medium-height trestle ring 10, back swivel becket 12, preceding camera 5, illuminating lamp 7, side camera 6, probe mechanism, telescoping mechanism, thicknessmeter 16 and interior camera 11.Before end ring 8, medium-height trestle ring 10, back swivel becket 12, be installed in front end, middle part, the rear end of rotation case 3 respectively.On the preceding end ring 8 front end-plate is installed, preceding camera 5 is installed in the front end-plate center, some illuminating lamp 7 uniform being installed on the front end-plate periphery, and side camera 6 is installed in rotation case 3 anterior sides.Probe mechanism is installed on the telescoping mechanism, and protruding below rotation case 3 front portions.Telescoping mechanism is installed in medium-height trestle ring 10 fronts.Thicknessmeter and interior camera 11 are installed in medium-height trestle ring 10 back.The head fixed part is made up of fixed housing 4, closed-loop 17, middle sustained ring 20, rear end cap 21, internal gear 22, tubular shaft 18, bearing holder (housing, cover) 19, pinion wheel 23, harmonic speed reducer 24, head rotary electric machine 26 (M2) and support 25.Closed-loop 17, middle sustained ring 20, rear end cap 21 are installed in front end, middle part, the rear end of fixed housing 4 respectively.Bearing holder (housing, cover) 19 is installed on the tubular shaft 18, and bearing holder (housing, cover) 19 front ends are fixedlyed connected with internal gear 22, back swivel becket 12 threes, and tubular shaft 18 rear ends are installed on the middle sustained ring 20.Pinion wheel 23, harmonic speed reducer 24 and head rotary electric machine 26 (M2) three are one, and are installed on the fixed housing 4 by support 25.Pinion wheel 23 and internal gear 22 engagements.Driving fuselage 2 is made up of fuselage cover 4, underframe 39, front end end cover 29, engaged wheel 36, driving wheel 38, movable motor 32 (M1), band-type brake 31, speed reduction unit 33, gear case 34, airborne remote control box 30 and electric battery 37.Movable motor 32 (M1), band-type brake 31, speed reduction unit 33 and gear case 34 are one, are installed in underframe 39 rear portions by gear case 34.The two pairs of driving wheels 38 are installed in and drive both sides below fuselage 2 latter half of, and pair of driven 36 is installed in and drives both sides below fuselage 2 front ends.Airborne remote control box 30 and electric battery 37 are installed in and drive fuselage 2 first halfs.Shown in Fig. 4,5, (form by IC6～IC9), 9 pilot relay J1～J9, DC relay, remote-receiver, antenna and power modules by Programmable Logic Controller PLC (IC4), driver module IGBT for the wireless remote control airborne portion.Programmable Logic Controller PLC is a control center, and its input end is connected with remote-receiver, power module and limit switch, and its output terminal is connected with malfunction indicator lamp with 9 pilot relay J1～J9, driver module IGBT, band-type brake.Pilot relay J1～J9 is connected with the camera power supply with DC relay, the flexible motor M 3 of probe, illuminating lamp LED power supply respectively again.DC relay is connected with side camera 6 with head rotary electric machine M2 respectively.The outer part of wireless remote control pipe is made up of remote controlled sending device, antenna, display and remote-control handle.The input end of remote controlled sending device is connected with antenna, remote-control handle, and its output terminal is connected with display, antenna.
Shown in Fig. 1,3, probe mechanism by Thicknesser probe 14, sliding lead, snap ring, backing plate, extension spring and limit switch 13 form.Thicknesser probe 14 is stuck on the snap ring, and snap ring is welded on the backing plate, and backing plate is fixed on sliding leading, and sliding leading is fixed on the expansion link 15; Another snap ring is fixed on the probe 14, holds with extension spring between two snap rings.Limit switch 13 is fixed on the backing plate.
Shown in Fig. 1,3, telescoping mechanism is made up of expansion link 15, limit switch and flexible motor 9.Flexible motor 9 drives expansion link 15 and sliding leading together stretched, by the flexible stroke of limit switch control.
Shown in Fig. 1,3, the cunning that detects head 1 and driving fuselage 2 coupling parts is led, slide plate, on the front end end cover 29 that be respectively fixed to the rear end cap 27 that detects head, drives fuselage, and drive slide plates and in sliding leading, move up and down by regulating leading screw 28, regulate the height that detects head 1 center, adapt to different calibers.
Shown in Fig. 1,2, the two pairs of driving wheels 38 and pair of driven 36 be the outpacking rubber layer all, can increase friction force, skids when preventing climbing or descending, and damping effect is arranged.
Programmable Logic Controller PLC (IC4) among Fig. 4,5 selects the FX1S-30MR-D of Mitsubishi type for use, has used 16 ports of its input end, 12 ports of output terminal.
The automatic detecting machine operating process: by shown in Figure 1, detect head 1 advanced person in pipeline port to be detected, promote its fuselage 2 again and move forward, make driving wheel 38 enter the mouth of pipe, the power turn-on switch 35 then, and observing voltage table 40 readings should be normal.Each electron device power supply is given in each power module work this moment.By shown in Figure 6, by control PLC control band-type brake able to programme, make movable motor M1 be in " brake " state earlier.When machines is received " advancing " or " retreating " wireless command signals,, discharge band-type brake automatically and movable motor M1 is advanced by command request or retreat by PLC control IGBT driver module.This moment, the headlight of LED illuminating lamp was bright, and preceding camera 5 is started working, be subjected to PLC control can carry out " distant view/close shot " switch and camera lens " upper and lower, left and right " mobile, carry out comprehensive observation and shooting.If coating thickness is observed and measured in a part (as the weld bond district) in detail, after preceding camera 5 Primary Location, press " stopping " key.Press " camera switch key " then, at this moment the ring lamp of LED illuminating lamp is bright, and camera switches to side shooting 6, carries out the second time and accurately locatees.The location finishes and presses " work " key.Under this state, flexible motor M 3 drive expansion links of probe and Thicknesser probe are protruding, and spacing by limit switch, probe has just touched till the internal coating, is recorded the coating thickness data of first some position automatically by thicknessmeter.These data are stored by the printer prints in the head, and simultaneously interior camera 11 is shot with video-corder the thickness number on the printer display screen and got off to be sent to the outer display of pipe.Then, flexible motor M 3 counter-rotatings drive expansion link and Thicknesser probe withdrawal, are just changeing 90 ° by head rotary electric machine M2 drive head 1 first half and are stopping.The flexible motor M 3 of probe this moment is task again, and it is protruding to drive expansion link and Thicknesser probe, and thicknessmeter is finished the coating thickness measuring of second some position on the same section automatically.Automatically finish the coating thickness measuring of third and fourth some position on the same section then successively.This moment, the thickness data of four somes position, upper and lower, left and right was stored by automatic the printing.Drive 360 ° of head 1 first half counter-rotatings by PLC control head rotary electric machine M2 then, reset to initial position.Camera 5 before camera switches to simultaneously, it is bright that the LED illuminating lamp also switches to headlight.Movable motor M1 is by halted state task again, and machines continues walking forward, repeats above-mentioned workflow, all detects up to pipe string to finish.
When this machines in-line is walked automatically, if run into water is arranged, barrier, electric battery is under-voltage or overcurrent, can withdraw from automatically outside the pipe, has self-protection function, this also is its innovation and advanced part.
Claims (6)
1. pipeline coating automatic detecting machine, comprise and detect head (1), driving fuselage (2) and wireless remote control three parts, it detects head (1) forwardly, drive fuselage (2) at the rear portion, its wireless remote control part is made up of airborne portion in the pipe and the outer hand-held part of pipe, it is characterized in that detecting head (1) by rotate, fixedly two parts are formed, rotating part is preceding, fixed part after; The head rotating part is by rotation case (3), preceding end ring (8), medium-height trestle ring (10) back swivel becket (12), preceding camera (5), illuminating lamp (7), side camera (6), probe mechanism, telescoping mechanism, thicknessmeter (16) and interior camera (11) are formed, the preceding ring (8) that closes, medium-height trestle ring (10), back swivel becket (12), be installed in the front end of rotation case (3) respectively, the middle part, the rear end, preceding end ring (8) is gone up front end-plate is installed, preceding camera (5) is installed in the front end-plate center, some illuminating lamps (7) are uniform to be installed on the front end-plate periphery, side camera (6) is installed in the anterior side of rotation case (3), probe mechanism is installed on the telescoping mechanism, and it is protruding below rotation case (3) is anterior, telescoping mechanism is installed in medium-height trestle ring (10) front, and thicknessmeter and interior camera (11) are installed in medium-height trestle ring (10) back; The head fixed part is by fixed housing (4), closed-loop (17), middle sustained ring (20), rear end cap (21), internal gear (22), tubular shaft (18), bearing holder (housing, cover) (19), pinion wheel (23), harmonic speed reducer (24), head rotary electric machine (26) and support (25) are formed, closed-loop (17), middle sustained ring (20), rear end cap (21), be installed in the front end of fixed housing (4) respectively, the middle part, the rear end, bearing holder (housing, cover) (19) is installed on the tubular shaft (18), bearing holder (housing, cover) (19) front end and internal gear (22), back swivel becket (12) three is fixedly connected, tubular shaft (18) rear end is installed on the middle sustained ring (20), pinion wheel (23), slope speed reduction unit (24) and head rotary electric machine (26) three are one, and be installed on the fixed housing (4) pinion wheel (23) and internal gear (22) engagement by support (25); Drive fuselage (2) by fuselage cover (4), underframe (39), front end end cover (29), engaged wheel (36), driving wheel (38), movable motor (32), band-type brake (31), speed reduction unit (33), gear case (34), airborne remote control box (30) and electric battery (37) are formed, movable motor (32), band-type brake (31), speed reduction unit (33) and gear case (34) are one, be installed in underframe (39) rear portion by gear case (34), two pairs of driving wheels (38) are installed in the latter half of following both sides that drive fuselage (2), pair of driven (36) is installed in both sides below the front end that drives fuselage (2), and airborne remote control box (30) and electric battery (37) are installed in driving fuselage (2) first half; The wireless remote control airborne portion, by Programmable Logic Controller PLC (IC4), driver module IGBT (IC6～IC9), 9 pilot relays (J1～J9), DC relay, remote-receiver, antenna and power module are formed, Programmable Logic Controller PLC (IC4) is a control center, its input end and remote-receiver, power module is connected with limit switch, its output terminal and 9 pilot relays (J1～J9), driver module IGBT (IC6～IC9), band-type brake (31) is connected with malfunction indicator lamp, pilot relay (J1～J9) again respectively with DC relay, the flexible motor (M3) of probe, illuminating lamp LED power supply is connected with the camera power supply, and DC relay is connected with side camera (6) with head rotary electric machine (M2) respectively; The outer part of wireless remote control pipe is made up of remote controlled sending device, antenna, display and remote-control handle, and the input end of remote controlled sending device is connected with antenna, remote-control handle, and its output terminal is connected with display, antenna.
2. pipeline coating automatic detecting machine according to claim 1, it is characterized in that probe mechanism by Thicknesser probe (14), sliding lead, snap ring, backing plate, extension spring and limit switch (13) form, Thicknesser probe (14) is stuck on the snap ring, snap ring is welded on the backing plate, backing plate is fixed on sliding leading, and sliding leading is fixed on the expansion link (15), and another snap ring is fixed on the probe (14), hold with extension spring between two snap rings, limit switch (13) is fixed on the backing plate.
3. pipeline coating automatic detecting machine according to claim 1, it is characterized in that telescoping mechanism is made up of expansion link (15), limit switch and flexible motor (9), flexible motor (9) drives expansion link (15) and sliding leading together stretched, by the flexible stroke of limit switch control.
4. pipeline coating automatic detecting machine according to claim 1, it is characterized in that the cunning that detects head (1) and drive fuselage (2) coupling part is led, slide plate, on the front end end cover (29) that be respectively fixed to the rear end cap (27) that detects head, drives fuselage, and drive slide plate and in sliding leading, move up and down by regulating leading screw (28), regulate the height that detects head (1) center.
5. pipeline coating automatic detecting machine according to claim 1 is characterized in that all outpacking rubber layers of two pairs of driving wheels (38) and pair of driven (36), can increase friction force.
6. pipeline coating automatic detecting machine according to claim 1 is characterized in that Programmable Logic Controller PLC (IC4), selects the FX1S-30MR-D of Mitsubishi type for use, has used 16 ports of its input end, 12 ports of output terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920020827U CN201382780Y (en) | 2009-04-10 | 2009-04-10 | Automatic detection machine for internal coating of pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920020827U CN201382780Y (en) | 2009-04-10 | 2009-04-10 | Automatic detection machine for internal coating of pipeline |
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| Publication Number | Publication Date |
|---|---|
| CN201382780Y true CN201382780Y (en) | 2010-01-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200920020827U Expired - Lifetime CN201382780Y (en) | 2009-04-10 | 2009-04-10 | Automatic detection machine for internal coating of pipeline |
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| CN (1) | CN201382780Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102927950A (en) * | 2012-10-31 | 2013-02-13 | 中钢集团邢台机械轧辊有限公司 | Automatic thickness measuring device for cold-type coating of roller |
| CN103543159A (en) * | 2012-07-17 | 2014-01-29 | 阿尔斯通技术有限公司 | Remote visual inspection system |
| CN104787144A (en) * | 2015-04-20 | 2015-07-22 | 东北大学 | Magnetic-adsorption multifunctional flaw detection robot |
| CN108663366A (en) * | 2018-03-29 | 2018-10-16 | 北京理工大学 | A kind of solid propellant rocket coated inside coating quality detection device |
| CN109373943A (en) * | 2018-10-23 | 2019-02-22 | 谢小东 | One kind is for measuring thickness device and thickness detecting method in pipeline |
| CN111122798A (en) * | 2020-01-20 | 2020-05-08 | 胡志伟 | Nondestructive testing equipment for coatings on inner and outer walls of metal pipe |
-
2009
- 2009-04-10 CN CN200920020827U patent/CN201382780Y/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103543159A (en) * | 2012-07-17 | 2014-01-29 | 阿尔斯通技术有限公司 | Remote visual inspection system |
| CN102927950A (en) * | 2012-10-31 | 2013-02-13 | 中钢集团邢台机械轧辊有限公司 | Automatic thickness measuring device for cold-type coating of roller |
| CN102927950B (en) * | 2012-10-31 | 2015-07-15 | 中钢集团邢台机械轧辊有限公司 | Automatic thickness measuring device for cold-type coating of roller |
| CN104787144A (en) * | 2015-04-20 | 2015-07-22 | 东北大学 | Magnetic-adsorption multifunctional flaw detection robot |
| CN104787144B (en) * | 2015-04-20 | 2017-01-25 | 东北大学 | Magnetic-adsorption multifunctional flaw detection robot |
| CN108663366A (en) * | 2018-03-29 | 2018-10-16 | 北京理工大学 | A kind of solid propellant rocket coated inside coating quality detection device |
| CN109373943A (en) * | 2018-10-23 | 2019-02-22 | 谢小东 | One kind is for measuring thickness device and thickness detecting method in pipeline |
| CN109373943B (en) * | 2018-10-23 | 2024-04-05 | 谢小东 | Thickness measuring device and thickness detecting method for pipeline |
| CN111122798A (en) * | 2020-01-20 | 2020-05-08 | 胡志伟 | Nondestructive testing equipment for coatings on inner and outer walls of metal pipe |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20100113 Effective date of abandoning: 20090410 |