CN206638627U - Pipe detection scanner - Google Patents
Pipe detection scanner Download PDFInfo
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- CN206638627U CN206638627U CN201621318501.5U CN201621318501U CN206638627U CN 206638627 U CN206638627 U CN 206638627U CN 201621318501 U CN201621318501 U CN 201621318501U CN 206638627 U CN206638627 U CN 206638627U
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Abstract
The utility model discloses a kind of pipe detection scanner, including：Can be in the rotating mechanism that inner-walls of duct circumferentially rotates, and carry rotating mechanism and the climbing mechanism that rotating mechanism can be driven to be moved along a straight line in inner-walls of duct；The weld seam scanning frame for detecting weld seam is detachably provided with rotating mechanism, weld seam scanning frame can follow rotating mechanism to circumferentially rotate；TOFD probe assemblies that at least one pair of is used to detect the heat affected area of weld seam are provided with weld seam scanning frame and at least one pair of is used for the PAUT probe assemblies that are detected to the inner surface of weld seam and outer surface.Pass through above-mentioned embodiment, being capable of the comprehensive accurate detection of longitudinal seam and girth joint to pipeline, and can simultaneously or timesharing the pipeline such as heat affected area of marine riser weld seam and inner and outer surfaces are detected, the thickness of water proof pipeline can also be detected, marine riser original structure will not be damaged, detection efficiency is high, and repeatable test, can effective guarantee marine riser safety in utilization.
Description
Technical field
Pipeline inspection technology field is the utility model is related to, more particularly to a kind of pipe detection scanner.
Background technology
Offshore Drilling Riser is link important and weak in whole marine drilling equipment, is that offshore oil drilling is opened
" bottleneck " of hair, it is one " throat channel " for connecting subsea blowout preventer and drilling platforms.The main work(of Offshore Drilling Riser
It can include：There is provided rising, putting installation for the equipment such as drilling mud circulation passage, subsea blowout preventer group, drilling rod, drilling tool are oriented to and remotely
Information transfer etc., its stress and fault type are more complicated, therefore Offshore Drilling Riser turns into the weight of offshore oil equipment
Point and difficult point.This high-tech, high investment, excessive risk, high value-added product are developed rapidly in the world, but only
A few countries can manufacture and design, and technical research and production technology are constantly in highly confidential state.
However, because the failure of marine riser causes ground, accident is of common occurrence in ocean platform, such as：The end of the year 2002, the South Sea
Marine riser fracture accident occurs for No. 2 platforms, while causes well head to damage；On March 20th, 2006, positioned at GoM Diamond
Marine riser accident occurs for the Ocean Confidence drill ships of Offshore drilling companies, is lost after marine riser ejection escape
218 barrels of synthetic base drilling fluids, and cause environmental pollution；And in August, 2006, LW3-l-1 wells there occurs marine riser fracture accident,
Marine riser external diameter is 0.6m, overall length 1202m, disperses accumbency seabed, salvages and spends a large amount of manpowers and material resources.
Therefore, for because the strick precaution of the accident caused by the failure of marine riser so that the detection to marine riser turns into weight
In it is weight.In the prior art, conventional lossless detection method is used to the detection technique of Offshore Drilling Riser.The detection method
In, it is necessary to the buoyant mass of marine riser is removed, and to weld grinding, weld seam is detected using manual ultrasonic wave and magnetic；
After detection, then anti-corrosion is carried out to marine riser.
This detection method destroys the original antiseptic effect of marine riser, and very big shadow is brought to the service life of marine riser
Ring.
Utility model content
The utility model provides a kind of pipe detection scanner to solve above-mentioned technical problem, can be to the vertical weldering of pipeline
Seam and the comprehensive accurate detection of girth joint, and can simultaneously or timesharing to the pipeline such as heat affected area of marine riser weld seam and it is interior,
Outer surface is detected, and the thickness of water proof pipeline can also be detected, and it will not damage marine riser original structure, and examine
Survey efficiency high, and repeatable test, so can effective guarantee marine riser safety in utilization.
In order to solve the above technical problems, the utility model provides a kind of pipe detection scanner, including：Can be in pipeline
The rotating mechanism that wall circumferentially rotates, and carry the rotating mechanism and can drive what rotating mechanism moved along a straight line in inner-walls of duct
Climbing mechanism；The weld seam scanning frame for detecting weld seam is detachably provided with the rotating mechanism, the weld seam scanning frame can
Rotating mechanism is followed to circumferentially rotate；At least one pair of is provided with the weld seam scanning frame to be used to examine the heat affected area of weld seam
The TOFD probe assemblies of survey and at least one pair of be used for the PAUT probe groups that are detected to the inner surface of weld seam and outer surface
Part.
Further, the climbing mechanism includes support shaft and two walkers；The rotating mechanism includes fixed plate, turned
Dynamic plate, drive link and motor；The fixed plate and rotor plate are arranged oppositely, and the drive link both ends are connected plate respectively
With the axle center of rotor plate, described drive link one end is rotatablely connected with fixed plate, the other end is fixedly connected with rotor plate, the driving
Motor is installed in fixed plate and drives drive rod rotation and then drive with the one end fits of the drive link positioned at fixed plate side
Rotor plate rotates relative to fixed plate；The drive link inner hollow, the support shaft pass through fixed plate, drive link and rotation
Plate, the support shaft are fixedly connected with fixed plate and are rotatablely connected with rotor plate, and two walkers are assemblied in support respectively
Axle both ends；The weld seam scanning frame is installed on the rotor plate.
Further, the walker include the first mounting disc, the second mounting disc and the link assembly of more than three with
And roller, the link assembly include first, second connecting rod, the 3rd and fourth link；In each link assembly, described first
Connecting rod one end is hinged with second connecting rod one end, and described third connecting rod one end is hinged with fourth link one end, in the first connecting rod
Portion is hinged with the third connecting rod other end, with being hinged in the middle part of fourth link in the middle part of the second connecting rod, the first connecting rod other end
Be hinged roller, the second connecting rod other end are hinged with the first mounting disc, and the fourth link other end and the second mounting disc are cut with scissors
Connect；One of them in first mounting disc and the second mounting disc be fixed by socket in support shaft, another slip cap is located at
In support shaft, to produce movement opposite or backwards under being promoted in external force between the two, and then enable two walkers
The regulation to supporting radius is realized using support shaft as axle center radial expansion.
Further, the support shaft inner hollow, a screw rod are inserted in inside the support shaft and can be relative to supports
Axle is rotated, and two nuts that can be moved along spiro rod length direction linear reciprocation, the support shaft surface are arranged with the screw rod
Offer two chutes extended along support shaft length direction；Two collars are sheathed on the outside of the support shaft and respectively at it
One of runner position be fixedly connected by screw with one of them nut；In each walker, first installation
The collar of one of abutting one in disk and the second mounting disc is set, and is arranged with the first spring and the on the outside of the support shaft respectively
Two springs, the both ends of first spring abut the first mounting disc and the second mounting disc, the both ends point of the second spring respectively
Di Jie not the collar and the first mounting disc or the second mounting disc of the setting of the adjacent collar；Moved by rotating the screw drive nut
And then produce thrust and promote the first mounting disc for abutting collar setting or the second mounting disc in opposite directions or set away from the collar is not abutted
The second mounting disc or the first mounting disc movement, and then enable two walkers synchronous as axle center using support shaft and same width
The radial expansion of degree realizes the regulation to supporting radius.
Further, the fixed plate and rotor plate structure in the form of annular discs, are installed between the fixed plate and rotor plate
There is the tubular protective cover of both inner spaces of sealing, described protective cover one end is fixedly connected with rotor plate, the other end is with consolidating
Fixed board gap coordinates so that the protective cover can integrally follow rotor plate to be rotated relative to fixed plate；Set in the fixed plate
There is the circular arc curvature identical chute with fixed plate outer, the sliding block that can be reciprocatingly slided along chute, institute are provided with the chute
State chute both ends and be respectively arranged with the first limit switch and the second limit switch, the protective cover relevant position is provided with and can abutted
And the pin for promoting sliding block to slide, when the rotor plate drives protective cover rotation, the pin promotes sliding block suitable along the chute
Hour hands slide until abutting spacing so as to carry out to first limit switch or the second limit switch counterclockwise.
Further, the weld seam scanning frame includes weld seam scanning frame, and the weld seam scanning frame includes cross bar and at least two
To frame installing structure of popping one's head in；Installed part that the probe frame installing structure includes being connected with cross bar, it can lock with installed part
The fixed block of ground rotation connection and the probe holder being assemblied on fixed block；The probe holder includes being fixed on fixed block
First support block, the second support block that is arranged in first support block, can be slided along the first support block linear reciprocation,
It is connected to the first contiguous block, second contiguous block at the second support block both ends with being relatively fixed, and connects with being relatively fixed
The fixture block of probe assembly, first support block are assembled in first contiguous block being used for away from described second support block one end
Back-moving spring is connected between one end and second contiguous block away from second contiguous block；Wherein, probe described in each pair
Frame installing structure is oppositely arranged, and the fixture block in two probe frame installing structures of one pair of which assembles TOFD probe groups respectively
Part, the fixture block in two of another pair probe frame installing structures assemble phased array probe component respectively.
Further, linear chute is offered in first support block, corresponding, second support block
One side close to first support block is provided with the sliding block that matches with the chute, second support block with described first
Realized and be slidably connected by the cooperation between the sliding block and the chute between bracer.
Further, the fixation is passed through at least provided with the chute of one of circular arc, the first bolt on the fixed block
The chute of block is connected to first support block, and the second bolt is connected to first support block directly through the fixed block,
It may be such that what first support block can be limited in the chute of the fixed block by adjusting the elastic of first bolt
Rotated in angular range；Also, the fixed block corresponds to and arc surface is arranged at the top of the chute, is printed on the arc surface
Or portray the radian value of the chute of the corresponding fixed block.
Further, the rotating mechanism is provided with elevating mechanism, the elevating mechanism include motor, ball-screw and
The nut slider being socketed on ball-screw, the motor drive the ball screw turns, pass through the ball-screw and institute
Convert rotational motion is removably installed on nut slider and followed for linear motion, the cross bar by the cooperation for stating nut slider
Nut slider does lifting moving.
Further, the scanner also includes driving car, and the one end of the driving car pluggablely with climbing mechanism connects
Connect to drive climbing mechanism to be moved linearly along inner-walls of duct.
Pipe detection scanner of the present utility model, has the advantages that：
By setting the climbing mechanism that can be advanced along inner-walls of duct rectilinear direction, be advantageous to subsequently to the longitudinal joint of inner-walls of duct
Checked；By carrying the rotating mechanism that can be rotated along inner-walls of duct circumferencial direction on climbing mechanism, it is follow-up right to be advantageous to
The girth joint of inner-walls of duct is checked that its is simple in construction, easy for installation.Meanwhile by being set respectively on weld seam scanning frame
A pair of TOFD probe assemblies and a pair of PAUT probe assemblies, can simultaneously or timesharing is to the heat affected area of pipeline such as marine riser weld seam
And inner and outer surfaces are detected, the thickness of water proof pipeline can also be detected, it will not damage the original knot of marine riser
Structure, and detection efficiency is high, and repeatable test, so can effective guarantee marine riser safety in utilization.
In addition, by the way that be arranged to two walkers in climbing mechanism can be synchronous as axle center using support shaft and with amplitude
Radial expansion is carried out to realize the regulation to supporting radius, the motion platform can be caused to be applied to the pipe to a variety of different tube diameters
Road is checked.
Brief description of the drawings
Fig. 1 is the structural representation of the motion platform in the utility model pipe detection scanner.
Fig. 2 is the exploded perspective view of the rotating mechanism of motion platform shown in Fig. 1.
Fig. 3 is the part assembling structure schematic diagram of fixed plate in rotating mechanism shown in Fig. 2.
Fig. 4 is the structural representation of the walker in the climbing mechanism of motion platform shown in Fig. 1.
Fig. 5 is the structural representation of another embodiment of the utility model pipe detection scanner.
Fig. 6 is the detonation configuration figure that car is driven in pipe detection scanner shown in Fig. 5.
Fig. 7 is the side view of weld seam scanning frame in the utility model pipe detection scanner.
Fig. 8 is the top view that weld seam scanning frame shown in Fig. 7 is equiped with probe assembly.
Fig. 9 is the front view of probe frame installing structure in weld seam scanning frame shown in Fig. 7.
Figure 10 is the front view of probe holder in probe frame installing structure shown in Fig. 9.
Embodiment
The utility model is described in detail with embodiment below in conjunction with the accompanying drawings.
Referred to reference to Fig. 1 to Figure 10, the utility model provides a kind of pipe detection scanner.The scanner includes
Drive car 1 including the motion platform and weld seam scanning frame 4 of rotating mechanism 2 and climbing mechanism 3.
What rotating mechanism 2 can circumferentially rotate in inner-walls of duct, climbing mechanism 3 carries rotating mechanism and can drive rotating mechanism
2 move along a straight line in inner-walls of duct, and driving car 1 and one end of climbing mechanism 3 is detachably connected to drive climbing mechanism 3 along pipeline
Inwall is moved linearly, and weld seam scanning frame 4, which is removable installed on rotating mechanism 2, to follow rotating mechanism to circumferentially rotate.Wherein,
Be provided with weld seam scanning frame 4 TOFD probe assemblies 451 that at least one pair of is used to detect the heat affected area of weld seam and
At least one pair of is used for PAUT (phased array) probe assembly 452 detected to the inner surface of weld seam and outer surface.
Specifically, as shown in Figure 1 to Figure 3, rotating mechanism 2 includes：Fixed plate 201, rotor plate 202, drive link 203
And motor 204.Climbing mechanism 3 includes support shaft 31 and two walkers 32.
Wherein, fixed plate 201 is arranged oppositely with rotor plate 202, the both ends of drive link 203 be respectively connecting to fixed plate 201 with
The axle center of rotor plate 202.The one end of drive link 203 is rotationally connected with fixed plate 201, the other end and can connected by way of pluggable ground
Keep being fixedly connected to rotor plate 202 and with rotor plate 202.Motor 204 be installed in fixed plate 201 and with positioned at fixation
The one end fits of the drive link 203 of the side of plate 201, to drive drive link 203 to rotate and then drive rotor plate 202 relative to fixed plate
201 rotate.
Further, the inner hollow of drive link 203, support shaft 31 pass through fixed plate 201, drive link 203 and rotor plate
202, support shaft 31 is fixedly connected with fixed plate 201 and is rotatablely connected with rotor plate 202, and two walkers 32 are assemblied in respectively
The both ends of support shaft 31.
In an embodiment, motor 204 is installed in side wall of the fixed plate 201 away from the side of rotor plate 202
On, the output shaft 2041 of motor 204 passes through fixed plate 201 and the belt wheel that is rigidly connected in the end of output shaft 2041
2042, connected between belt wheel 2042 and drive link 203 by transmission belt 2043 to be driven.Specifically, motor 204
Make belt wheel 2042 rotate and by transmission belt 2043 drive drive link 203 rotate, drive link 203 so drive fix corresponding thereto
Rotor plate 202 rotated relative to fixed plate 201.Rotor plate 202 can be any in slewing area clockwise or counterclockwise
Set.
Preferably, drive link 203 is connected to one end of rotor plate 202 and is provided with jack 2031 and/or inserting column 2032, corresponding
Ground, the relevant position of the side wall of fixed plate 201 is provided with shape in rotor plate 202 and set with size and the end of drive link 203
The inserting column 2022 and/or jack 2021 that the jack 2031 and/or inserting column 2032 put are adapted, pass through the end set of drive link 203
Jack 2031 and/or inserting column 2032 and rotor plate 202 on inserting column 2022 and/or jack 2021 between cooperation realize the two
Plugged and fixed.The fast assembling-disassembling between fixed plate 201, drive link 203 and rotor plate 202 can so be realized.
Preferably, the protective cover 205 of both inner spaces of sealing can be installed between fixed plate 201 and rotor plate 202,
Wherein, the one end of protective cover 205 is fixedly connected with rotor plate 202, the other end and the gap of fixed plate 201 coordinate so that protective cover
205 entirety can follow rotor plate 202 to be rotated relative to fixed plate 201.By setting up protective cover 205, the whirler can be improved
The overall water proof and dust proof performance of structure 2, has widened the usage scenario of the rotating mechanism 2.Specifically, can be in the end face of protective cover 205
Inserting column (not shown) and/or jack (not shown) are set, and jack 2023 and/or inserting column are correspondingly arranged in the periphery of rotor plate 202
2024, coordinated by the grafting of the two, that realizes between the two quick is connected.During installation, it is preferential assemble drive link 203 with
Fixed plate 201, then protective cover 205 and rotor plate 202 are assembled, finally again by drive link 203 with and rotor plate 202 and then
Assembling.
When specifically used, fixed plate 201 and rotor plate 202 can be disposed as to structure in the form of annular discs, and accordingly will
Protective cover 205 is designed as being cylindrical in shape.Its profile small volume more attractive in appearance and relative.
Preferably, above-mentioned protective cover 205 can be by two pieces of section semicirculars in shape cover plate 2051,2052 it is assembled and
Into so that dismounting, maintenance are more convenient, while reduce die cost.
In addition, the fixed plate 201, rotor plate 202, drive link 203 and protective cover 205 can use stainless steel
Into suitable for the wet environment in pipeline, itself being not easy corrosion, reliability and be also greatly improved.
In a better embodiment, chute 206 is provided with fixed plate 201, being provided with chute 206 can be along chute
206 sliding blocks 207 to reciprocatingly slide, the both ends of chute 206 are respectively arranged with the first limit switch 208 and the second limit switch 209,
The relevant position of protective cover 205 is provided with the pin 2053 that can abut and promote sliding block 207 to slide, and rotor plate 202 drives protective cover
205 when rotating, and pin 2053 promotes sliding block 207 to be slided clockwise or counterclockwise along chute 206 until abutting spacing is opened to first
The limit switch 209 of pass 208 or second is spacing so as to carry out.By the structure design, the angle of rotation of rotor plate 202 can be limited
Degree is easy to more accurately control, simultaneously as devising the chute 206 with certain stroke, the maximum of rotor plate 202 turns
Dynamic angular range is more than 360 °, and such as settable maximum rotation angle is 450 ° or slightly larger than 360 °, is greatly facilitated follow-up
The use for the weld seam scanning frame installed on rotating mechanism 2, avoid the reality that the dead angle not reached occurs in its scanning scope
Use problem.In addition, by the spacing of first limit switch and the second limit switch, auto Zero Function can be realized, is entered
And the defects of ensureing that follow-up 0 position when being detected every time to the circumferential weld of inner-walls of duct is identical, facilitating testing staff, evaluates.Wherein,
The pin 2053 can be can be achieved with a common stud.Preferably, the circular arc curvature of chute 206 and the outer of fixed plate 201
Circular arc curvature is identical, to cause the rotation of rotor plate 202 more smooth.
In an Application Example, the first via 2011 can be provided with the axle center of fixed plate 201, and in rotor plate 202
The second via 2025 is provided with axle center, the socket of the inside of drive link 203 is installed with hollow mounting rod 210, the both ends of mounting rod 210
Stretch out the both ends of drive link 203 and be further each passed through the first via 2011 and the second via 2025 to form the first peace respectively
The mounting seat 2102 of seat 2101 and second is filled, support shaft 31 passes through mounting rod 210, and support shaft 31 rotates with the first mounting seat 2101
Connect and be fixedly connected with the second mounting seat 2102.
After carrying weld seam scanning frame 4 on rotating mechanism 2, scanning detection can be carried out to inner-walls of duct optional position.
In one embodiment, in climbing mechanism 3 two walkers 32 can be axle center radial expansion with support shaft 31 with
The regulation to supporting radius is realized, so as to suitable for the pipeline in different tube diameters.Preferably, two walkers 32 can synchronously and
Equal magnitude ground radial expansion, quickly to carry out unified regulation to each walker 32.
Specifically can be as shown in figure 4, walker 32 includes the first mounting disc 321, the first mounting disc 322 and two or more
Link assembly 323 and roller 324, link assembly 323 includes first, second connecting rod the 3232, the 3rd and fourth link
3234。
Wherein, in each link assembly 323, the one end of first connecting rod 3231 is hinged with the one end of second connecting rod 3232, third connecting rod
3233 one end are hinged with the one end of fourth link 3234, and the middle part of first connecting rod 3231 is hinged with the other end of third connecting rod 3233, and second
The middle part of connecting rod 3232 and the middle part of fourth link 3234 are be hinged, and the other end of first connecting rod 3231 is hinged roller 324, second connecting rod
3232 other ends and the first mounting disc 321 are be hinged, and the other end of fourth link 3234 and the first mounting disc 322 are be hinged.
Further, it is fixed by socket in support shaft 31 one of in the first mounting disc 321 and the first mounting disc 322
Upper, another slip cap produces movement opposite or backwards between the two in support shaft 31 under external force promotion, and then
Realize the telescopic adjustment to walker 32.
Preferably, the quantity of the link assembly 323 in walker 32 is arranged to more than three, the quantity of link assembly 323
It is arranged to more than three stability of strutting system and structural strength that can strengthen climbing mechanism 3.
In addition, in order to adapt to environment moist in pipeline and strengthen the stability of the movement of climbing mechanism 3, it is each in walker 32
Part can be made of stainless steel material.
In a preferred embodiment, the support shaft 31 is hollow, and a screw rod (not shown) is inserted in the inside of support shaft 31 and can
Rotated relative to support shaft 31.Screw rod both ends spacer sleeve is provided with two nuts that can be moved along the spiro rod length direction linear reciprocation
(not shown)；Meanwhile two chutes 310 extended along the length direction of support shaft 31, two cunnings are offered on the surface of support shaft 31
Groove 310 is arranged at intervals at the both ends of support shaft 31.Two collars 33 are sheathed on the outside of support shaft 31 and difference is of one of which
The position of chute 310 is fixedly connected by screw 34 with the nut of one of them, so that the movement of nut can be followed to be slided on chute 310
It is dynamic.
Further, in each walker 32, one is abutted one of in the first mounting disc 321 and the first mounting disc 322
The collar 33 is set, and by rotating, screw drive nut is mobile to promote the first mounting disc for abutting the collar 33 and setting and then generation thrust
321 or first mounting disc 322 it is opposite or moved away from the first mounting disc 322 or the first mounting disc 321 for not abutting the setting of the collar 33
It is dynamic.Wherein, due in two walkers 32, the displacement of the movement between the respective mounting disc 322 of first mounting disc 321 and first
It is always equal, therefore two walkers 32 realize the telescopic adjustment of synchronization and same magnitude, without individually to each
The regulation of walker 32, it is quick and convenient and accurate.
Preferably, the outer sheath of support shaft 31 is provided with the first spring 325, the both ends of the first spring 325 abut the first peace respectively
The mounting disc 322 of sabot 321 and first.The setting one of first spring 325 is to improve the tensile force of walker 32, second, can be with
Prevent the collision between the first mounting disc 321 and the first mounting disc 322.
Preferably, the outer sheath of support shaft 31 is provided with second spring 326, the both ends of second spring 326 abut the collar 33 respectively
The first mounting disc 321 or the first mounting disc 322 set with the adjacent collar 33.The setting of the second spring 326 can effectively delay
The collision rushed between the first mounting disc 321 or the first mounting disc 322 of the collar 33 with abutting the setting of the collar 33, can equally be improved
The tensile force of walker 32.
For convenience of the regulation for amplitude (supporting radius) of being stretched to walker 32, can be equiped with one end of screw rod can not
The rotating disc 36 rotated relative to screw rod, rotating disc 36 are arranged at outside support shaft 31 to be conveniently used for rotating screw rod.
Preferably, the camera 35 for possessing LED can also be equiped with the one end of support shaft 31, to realize to inner-walls of duct
Detection and monitoring to crawl device mobile status.
As shown in Figure 5 and Figure 6, in an embodiment, driving car 1 includes bottom plate 11 and is assemblied on bottom plate 11
Drive control device 12 and at least a driving wheel mechanism 13.
Specifically, driving wheel mechanism 13 includes stepper motor (not shown), drive sprocket axle 131 and adhesion wheel
132.Wherein, stepper motor electrically connects with drive control device 12, and it works under the control of drive control device 12；Drive sprocket axle
131 are connected with stepper motor, and it is rotated under the drive of stepper motor；Two adhesion wheels 132 are respectively arranged in drive sprocket axle
The both sides of bottom plate 11 are simultaneously stretched out with 11 liftoff certain altitude of support baseboard in 131 both ends.
For example, the stepper motor can use 48V direct current supplys, i.e. can directly install and store inside driving car 4
Battery etc. provides power for it.
Further, front apron 15 is equiped with along the position of wheel direct of travel on bottom plate 11, front apron 15 is provided with use
In carrying out pluggable the plug connector being connected with external crawl device 3.When the driving car 1 only sets driving wheel mechanism 13, it can
The moving parts that an entirety is formed with crawl device 3 is creeped in pipeline.
In a better embodiment, chute 152 can be opened up along its short transverse in front apron 15, be slided on chute 152
Dynamic to set sliding block 153, plug connector is fixedly arranged on sliding block 153.Slided by the elastic sliding block 153 of nut 154 along chute 152
Move or lock and then cause plug connector to be applicable to support a variety of bearing heights of the adjustable crawl device 3 of radius.
In an embodiment, plug connector includes flange 1511 and bulb cutting ferrule 1512, and flange 1511 includes setting
In the discoid pedestal 1513 on sliding block 153 and the cylindrical side wall 1514 formed from the extension of the center of pedestal 1513.Its
In, pedestal 1513 encloses a cavity with side wall 1514, and appropriate location offers neck 1515, bulb cutting ferrule in side wall 1514
1512 elastic engagings, to limit the movable of the connecting rod 301 for the crawl device 3 being inserted in cavity, contribute in neck 1515
Driving car 1 can accurately promote crawl device 3 to creep, wherein, connecting rod 301 is arranged at the inner screw of support shaft 31 and is provided with rotating disc
The end face of 36 one end, connecting rod 301 can not rotate relative to screw rod.Wherein, the depth of cavity and radius with crawl device 3
The end that connecting rod 301 is inserted matches, it is preferable that the end that connecting rod 301 inserts cavity is arranged to spherical, passes through bulb
The cooperation of cutting ferrule 1512 and neck 1515 on flange 1511 accurately limits the connecting rod 301 of crawl device 3 in spherical end
System can not move forward and backward in cavity.
Further, car 1 is driven to include the driven pulley mechanism 14 being assemblied on bottom plate 11, the driven pulley mechanism 14
Movement is followed under the drive of driving wheel mechanism 13.Driven pulley mechanism 14 includes follower shaft 141 and driven wheel 142, two
Driven wheel 142 is also respectively arranged in the both ends of follower shaft 141 and stretches out the both sides of bottom plate 11 and then propped up together with adhesion wheel 132
Support 11 liftoff certain altitude of bottom plate.
Preferably, adhesion wheel 132 and driven wheel 142 can use magnetic wheel, and then help to strengthen the driving
Adhesive force of the car 1 in pipeline, improve traveling stability.
In one embodiment, driving car 14 also includes left plate 16, right plate 17, rear baffle 18 and cover plate 19,
Left plate 16, right plate 17, front apron 15 and rear baffle 18, which enclose, to be arranged on bottom plate 11, cover plate 19 should located at left plate 16,
Right plate 17, front apron 15 and rear baffle 18, which enclose, to be arranged on bottom plate 11, it is possible to increase the seal of driving car 1, is effectively protected
Electric component inside shield driving car 1.
Bottom plate 11, left plate 16, right plate 17, front apron 15, rear baffle 18 and cover plate 19 can use aluminium alloy
Or stainless steel material is made.Preferably, bottom plate 11, left plate 16, right plate 17, front apron 15, rear baffle 18 use stainless steel
Material is made, that is, improves its corrosion resistance, can increase the weight of whole driving car 1 again, hollow be present in inner-walls of duct
Not usually, it is very advantageous in and improves the stability that driving car 1 is advanced, and then contributes to subsequently to the standard of inner-walls of duct defects detection
True property.
Preferably, be inserted with a support frame 110 on cover plate 19, ultrasonic signal to the outside on crawl device 3 that is used to transferring is controlled
The phased array defectoscope 111 of terminal processed is installed on support frame 110.By being provided for ultrasonic signal of transferring on driving car 1
Phased array defectoscope 111, it is possible to prevente effectively from crawl device 3 in phased array ultrasonic signal occur due to distance etc. reason production
Raw relaxation phenomenon.
In one embodiment, the LED of rotatable video camera and compensation brightness can be installed on front apron 15.
The video camera can be installed on front apron 15 by head, realize it is corresponding with pipe circumference 360 ° rotate and with its side of traveling
Rotated to corresponding 90 °.By setting video camera, monitoring to its travel condition can be advantageous to and to inner-walls of duct defect
Detection.
In one embodiment, drive control device 12 can be controlled by remote control from outside.
In above-described embodiment, for the detection preferably to inner-walls of duct defect, the gait of march for driving car 1 can be controlled
Between 0-100mm/s.
Referred to reference to Fig. 7 to Figure 10, in an embodiment, weld seam scanning frame 4 includes：Cross bar 41 and removable
At least four probe frame installing structures 42 being assemblied in unloading on the cross bar 41.Wherein, frame installing structure 42 of popping one's head in includes fixing
Block 421, the installed part 422 for being arranged on the fixed block 421 fixed block 421 being assembled on cross bar 41 and it is assemblied in this
The probe holder 423 for being used to install probe assembly 451 or probe assembly 452 on fixed block 421.
Wherein, 2 on rotating mechanism, elevating mechanism 37 is specifically provided with the rotor plate 202 of rotating mechanism 2.Weld seam scanning
Frame 4 is removably installed on the elevating mechanism 37 and can rise or fall and then paste under the drive of the elevating mechanism 37
The tube wall of nearly pipeline.The elevating mechanism 37 includes motor (not shown), ball-screw (not shown) and is socketed on ball-screw
On nut slider (not shown), motor driven ball screws rotate, will be rotated by the cooperation of ball-screw and nut slider
Conversion of motion is linear motion, and cross bar, which is removably installed on nut slider, follows nut slider to do lifting moving.The lifting
The setting of mechanism 37 can make each probe assembly 451,452 in weld seam scanning frame 4 fall in place, can be with when without scanning
By each probe assembly 451,452 lift-off tube walls in weld seam scanning frame 4, tube wall is reduced to voussoir in each probe assembly 451,452
Abrasion.
Preferably, the first limit switch (not shown), the second limit switch (figure can be set respectively at ball-screw both ends
Do not show), motor is stopped or reverse operation after nut slider is abutted to the first limit switch or the second limit switch.It is specific and
Speech, the probe holder 423 include：First support block 4231, the second support block 4232, the first contiguous block 4233, the second contiguous block
4234 and fixture block 4235.
Specifically, the first support block 4231 is assemblied on foregoing fixed block 421.Second support block 4232 is slidedly arranged on
In one support block 4231, it can be slided along the linear reciprocation of the first support block 4231.First contiguous block 4233 and the second contiguous block 4234
It is connected to the both ends of the second support block 4232 with being relatively fixed respectively.Fixture block 4235 for assembling the component of probe holder 423 is relative
The first contiguous block 4233 is fixedly connected to away from the one end of the second support block 4232.Further, the first support block 4231 is remote
Back-moving spring 4236 is connected between one end of second contiguous block 4234 and the second contiguous block 4234, the back-moving spring 4236 is optional
Select the extension spring suitable for larger stroke or the compression spring suitable for smaller stroke, the setting of the back-moving spring 4236
Each probe assembly 451,452 being installed on fixture block 4235 can be enabled to keep closely connecing with tube wall to be detected all the time
Touch, and then help accurately to detect tube wall.
Preferably, can be determined in the bottom of probe holder 423, such as the bottom of fixture block 4235 installing range sensor with facilitating
Whether probe assembly 451,452 falls in place, ensures that the pressure of voussoir in each probe assembly 451,452 is consistent, and can protection wedge
Block will not damage because pressure is excessive.
The internal perisporium of pipeline is carried out afterwards with having installed probe assembly 451,452 with the fixture block 4235 in probe holder 423
Its operation principle is briefly discussed below exemplified by detection：
When 451,452 pairs of pipeline bottom tube walls of each probe assembly in such as probe holder 423 detect, it is typically due to
Gravity factor, probe assembly 451,452 can follow the second support block 4232 to be glided relative to the first support block 4231 closely to support
It is connected to tube wall, and when tube wall is due to parcel of the factors such as accumulation of mud or corrosion formed with the internal perisporium for being raised in pipeline, visit
Head assembly 451,452, which can take advantage of a situation, crosses parcel, can now promote the second support block 4232 relative in the first support block 4231
It is sliding, and now elastic deformation occurs for back-moving spring 4236, under the reaction force of back-moving spring 4236, can drive the second support block
4232 have the trend to glide relative to the first support block 4231, enter regardless of whether the second support block 4232 is to cross parcel also
It is to have crossed parcel, can all enables probe assembly 451,452 closely to abut under the active force of back-moving spring 4236
To tube wall.
Similarly, when being detected such as 451,452 pairs of pipeline the top tube walls of probe assembly in the probe holder 423, due to
Gravity factor, probe assembly 451,452 can follow the second support block 4232 to glide and have de- relative to the first support block 4231
From the trend of tube wall, now elastic deformation occurs for back-moving spring 4236, under the reaction force of back-moving spring 4236, can drive the
Two support blocks 4232 have the trend of upper cunning, and then the meeting under the active force of back-moving spring 4236 relative to the first support block 4231
So that probe assembly 451,452 remains able to close abut to tube wall.
For example, linear chute 42313 can be opened up in the first support block 4231, corresponding, second
The one side of support block 4232 close to the first support block 4231 is provided with the sliding block to match with chute 42313, the second support block 4232
Realized and be slidably connected by the cooperation between sliding block (not shown) and chute 42313 between the first support block 4231.
Further, one end that the first support block 4231 and the second contiguous block 4234 are located remotely from each other is each formed with two respectively
Individual linking arm, wherein, the linking arm of the first support block 4231 is 42311,42312, and the linking arm of the second contiguous block 4234 is
42341、42342.Preferably, the company of the contiguous block 4234 of linking arm 42311 and second positioned at the first support block 4231 of side
Connect and connected by a back-moving spring 4236 between arm 42341, positioned at the linking arm 42312 of the first support block 4231 of opposite side
It is connected between the linking arm 42342 of the second contiguous block 4234 by another back-moving spring 4236.By such structure setting,
It can make to be more uniformly stressed.
In above-described embodiment, fixture block 4235 can be rotationally connected with the first contiguous block 4233, and fixture block 4235 can be adopted
Such as it is locked with dismountable mode by bolt 42331 on the first contiguous block 4233.By the way that fixture block 4235 is rotatable
Ground is lock onto on the first contiguous block 4233, can be to subsequent installation in the detection angle of the probe assembly 451,452 on fixture block 4235
Degree is adjusted, and then the detection angles of probe assembly 451,452 can be adjusted according to Pipeline Curvature.
In a preferred embodiment, can be connected for installing the first support frame and then realizing with probe holder 423
Fixed block 421 on the chute 4211 of at least one circular arc is set, further fixed block can be passed through by the first bolt 4212
421 chute 4211 is connected to the first support block 4231, and first is connected to directly through fixed block 421 by the second bolt 4213
Support block 4231, it may be such that the first support block 4231 can be with the second bolt 4213 by adjusting the elastic of the first bolt 4212
Rotated, and then realized to the curvature of probe holder 423 in the angular range that the chute 4211 of fixed block 421 limits by axle center
Regulation, with the detection suitable for various detection occasion such as inner-walls of duct or pipeline outer wall.
Preferably, the top of the corresponding chute 4211 of fixed block 421 is arranged to arc surface, prints or portrayed on arc surface pair
Answer the radian value 4214 of the chute 4211 of fixed block 421.Compareing the radian value 4214 can be easily and accurately to probe holder 423
Curvature be adjusted.
Preferably, one end for being rotationally connected with fixed block 421 that installed part 422 can lock, to cause the probe holder to install
Structure 42, which can be installed on multiple angles on cross bar 41, is adapted to different detection scenes, and such as slightly adjusting can be to the ring of tube wall
Weld seam or longitudinal seam are detected.
In one embodiment, it is divided into two-by-two a pair in four probe frame installing structures 42, each pair probe holder installation knot
Structure 42 is oppositely arranged, and the fixture block 4235 in two probe frame installing structures 42 of one pair of which is respectively fitted with TOFD probe groups
Part 451 is detected with the heat affected area to weld seam, and the fixture block 4235 in two probe frame installing structures 42 of another pair is distinguished
Assembling phased array probe component 452 is detected with the inner and outer surfaces to weld seam.Wherein, the phased array probe can also be utilized
Component starts C-scan and the wall thickness of pipeline is detected.Wherein, longitudinal seam is detected and during circumference weld inspection, it is only necessary to
Adjustment probe frame installing structure is laid out on cross bar and can switched over, and does not do excessive description herein.
Preferably, coupling can be sprayed in the installation place (such as at fixture block 4235) of each probe assembly 451,452 installing nozzle
Mixture, to improve the accuracy that each probe assembly 451,452 detects.
In one embodiment, being provided with cross bar 41 can closely abut to the encoder 43 of tube wall to be detected, to
Record the scope of the weld seam of weld seam scanner scanning.For example, it can use and remove folder as described by above-mentioned any embodiment
The structure of probe holder 423 outside block 4235 installs encoder 43, will be rotatably connected to the encoder grip block 44 of encoder 43
It is installed on the first contiguous block 4233 of probe holder 423.Furthermore it is possible to setting angle is adjustable on cross bar 41 and has
The camera of illumination functions is detecting the concrete condition of scanned weld seam.
Pipe detection scanner of the present utility model, has the advantages that：
By setting the climbing mechanism 3 that can be advanced along inner-walls of duct rectilinear direction, be advantageous to subsequently indulge inner-walls of duct
Seam is checked；By carrying the rotating mechanism 2 that can be rotated along inner-walls of duct circumferencial direction on climbing mechanism 3, after being advantageous to
The continuous girth joint to inner-walls of duct checks that its is simple in construction, easy for installation.Meanwhile by distinguishing on weld seam scanning frame 4
A pair of TOFD probe assemblies 451 and a pair of PAUT probe assemblies 452 are set, can simultaneously or timesharing to pipeline such as marine riser weld seam
Heat affected area and inner and outer surfaces detected, the thickness of water proof pipeline can also be detected, it will not damage water proof
Pipe original structure, and detection efficiency is high, and repeatable test, so can effective guarantee marine riser safety in utilization.
In addition, can be that axle center is synchronous and same with support shaft 31 by the way that two walkers 32 in climbing mechanism 3 are arranged to
Radial expansion is carried out to amplitude to realize the regulation to supporting radius, the motion platform can be caused to be applied to a variety of different pipes
The pipeline in footpath is checked.
Embodiment of the present utility model is these are only, not thereby limits the scope of the claims of the present utility model, every profit
The equivalent structure or equivalent flow conversion made with the utility model specification and accompanying drawing content, or directly or indirectly it is used in it
The technical field of his correlation, is similarly included in scope of patent protection of the present utility model.
Claims (10)
- A kind of 1. pipe detection scanner, it is characterised in that including：Can be in the rotating mechanism that inner-walls of duct circumferentially rotates, and carry the rotating mechanism and rotating mechanism can be driven in pipeline The climbing mechanism of inwall linear motion；The weld seam scanning frame for detecting weld seam is detachably provided with the rotating mechanism, the weld seam scanning frame can follow rotation Rotation mechanism circumferentially rotates；Be provided with the weld seam scanning frame TOFD probe assemblies that at least one pair of is used to detect the heat affected area of weld seam, And at least one pair of is used for the PAUT probe assemblies that are detected to the inner surface of weld seam and outer surface.
- 2. pipe detection scanner according to claim 1, it is characterised in that：The climbing mechanism includes support shaft and two walkers；The rotating mechanism includes fixed plate, rotor plate, drive link and motor；The fixed plate and rotor plate are arranged oppositely, and the drive link both ends are connected the axle center of plate and rotor plate respectively, institute State drive link one end to be fixedly connected with rotor plate with fixed plate rotation connection, the other end, the motor is installed on fixed plate Upper and one end fits with the drive link positioned at fixed plate side are to drive drive rod rotation and then drive rotor plate relative to fixation Plate rotates；The drive link inner hollow, the support shaft pass through fixed plate, drive link and rotor plate, the support shaft and fixed plate It is fixedly connected and is rotatablely connected with rotor plate, two walkers is assemblied in support shaft both ends respectively；The weld seam scanning frame is installed on the rotor plate.
- 3. pipe detection scanner according to claim 2, it is characterised in that：The walker includes the first mounting disc, the second mounting disc and the link assembly and roller of more than three, the company Bar assembly includes first, second connecting rod, the 3rd and fourth link；In each link assembly, described first connecting rod one end is hinged with second connecting rod one end, described third connecting rod one end and the Double leval jib one end is hinged, and is hinged in the middle part of the first connecting rod with the third connecting rod other end, is connected in the middle part of the second connecting rod with the 4th Be hinged in the middle part of bar, the first connecting rod other end is hinged roller, and the second connecting rod other end is hinged with the first mounting disc, described The fourth link other end is hinged with the second mounting disc；One of them in first mounting disc and the second mounting disc be fixed by socket in support shaft, another slip cap is located at In support shaft, to produce movement opposite or backwards under being promoted in external force between the two, and then enable two walkers The regulation to supporting radius is realized using support shaft as axle center radial expansion.
- 4. pipe detection scanner according to claim 3, it is characterised in that：The support shaft inner hollow, a screw rod are inserted in inside the support shaft and can rotated relative to support shaft, the spiral shell Two nuts that can be moved along spiro rod length direction linear reciprocation are arranged with bar, the support shaft surface offers two along branch Support the chute of shaft length direction extension；Two collars be sheathed on the outside of the support shaft and respectively runner position of one of which by screw with wherein it One nut is fixedly connected；In each walker, the collar of one of abutting one in first mounting disc and the second mounting disc is set, described Be arranged with the first spring and second spring on the outside of support shaft respectively, the both ends of first spring abut respectively the first mounting disc and Second mounting disc, the both ends of the second spring abut the first mounting disc or the second installation that the collar is set with the adjacent collar respectively Disk；By rotating, the screw drive nut is mobile to abut the first mounting disc that the collar sets or the producing thrust and promote Two mounting discs are opposite or away from the second mounting disc or the first mounting disc movement for not abutting collar setting, and then make two rows The regulation to supporting radius can be realized using support shaft as axle center synchronization and with the radial expansion of amplitude by walking frame.
- 5. pipe detection scanner according to claim 2, it is characterised in that：The fixed plate and rotor plate structure in the form of annular discs, sealing is equiped between the fixed plate and rotor plate, and both are internal The tubular protective cover in space, described protective cover one end is fixedly connected with rotor plate, the other end coordinates with fixed sheet separation, is made Obtaining the protective cover can integrally follow rotor plate to be rotated relative to fixed plate；The circular arc curvature identical chute with fixed plate outer is provided with the fixed plate, being provided with the chute can be along cunning The sliding block that groove reciprocatingly slides, the chute both ends are respectively arranged with the first limit switch and the second limit switch, the protective cover Relevant position is provided with the pin that can abut and promote sliding block to slide, when the rotor plate drives protective cover rotation, the pin Sliding block is promoted to be slided clockwise or counterclockwise along the chute until abutting to first limit switch or the second limit switch It is spacing so as to carry out.
- 6. pipe detection scanner according to claim 1, it is characterised in that：The weld seam scanning frame includes cross bar and at least two pairs probe frame installing structures；Installed part that the probe frame installing structure includes being connected with cross bar, consolidate with what installed part was rotatablely connected in which can lock Determine block and the probe holder being assemblied on fixed block；The probe holder includes the first support block for being fixed on fixed block, is arranged in first support block, can be along described The second support block that first support block linear reciprocation is slided, be connected to the second support block both ends with being relatively fixed first connect Block, the second contiguous block are connect, and be connected to use of first contiguous block away from described second support block one end with being relatively fixed In the fixture block of assembling probe assembly, the one end of first support block away from second contiguous block and second contiguous block it Between be connected with back-moving spring；Wherein, frame installing structure of being popped one's head in described in each pair is oppositely arranged, in two probe frame installing structures of one pair of which Fixture block assembles TOFD probe assemblies respectively, and the fixture block in two probe frame installing structures of another pair assembles phased array respectively Probe assembly.
- 7. pipe detection scanner according to claim 6, it is characterised in that：Linear chute is offered in first support block, corresponding, second support block is close to described first The one side of support block is provided with the sliding block to match with the chute, passes through between second support block and first support block Cooperation between the sliding block and the chute, which is realized, to be slidably connected.
- 8. pipe detection scanner according to claim 6, it is characterised in that：It is connected on the fixed block at least provided with the chute of one of circular arc, the chute of the first bolt through the fixed block First support block, the second bolt are connected to first support block directly through the fixed block, by adjusting described The elastic of one bolt may be such that first support block can rotate in the angular range that the chute of the fixed block is limited；Also, the fixed block corresponds to and arc surface is arranged at the top of the chute, print or portrayed on the arc surface pair Answer the radian value of the chute of the fixed block.
- 9. pipe detection scanner according to claim 6, it is characterised in that：The rotating mechanism is provided with elevating mechanism, and the elevating mechanism includes motor, ball-screw and is socketed on ball wire Nut slider on thick stick, the motor drive the ball screw turns, pass through the ball-screw and the nut slider It is linear motion to coordinate convert rotational motion, and the cross bar, which is removably installed on nut slider, follows nut slider to rise Drop movement.
- 10. pipe detection scanner according to claim 1, it is characterised in that：The scanner also includes driving car, and the driving car is connected with one end of climbing mechanism to drive creeper pluggablely Structure can move linearly along inner-walls of duct.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621318501.5U CN206638627U (en) | 2016-11-30 | 2016-11-30 | Pipe detection scanner |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621318501.5U CN206638627U (en) | 2016-11-30 | 2016-11-30 | Pipe detection scanner |
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| CN206638627U true CN206638627U (en) | 2017-11-14 |
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| CN201621318501.5U Active CN206638627U (en) | 2016-11-30 | 2016-11-30 | Pipe detection scanner |
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| CN108845027A (en) * | 2018-03-15 | 2018-11-20 | 宁波市特种设备检验研究院 | A kind of scanning equipment for the detection of plug-in type Nozzle weld |
| CN108956765A (en) * | 2018-06-06 | 2018-12-07 | 中国农业大学 | Gas spring space three-freedom adaptive mechanism for curved surface non-destructive testing |
| CN109342561A (en) * | 2018-10-18 | 2019-02-15 | 吉林大学 | Curved surface weldment ultrasonic detection device and method |
| CN109738520A (en) * | 2019-01-04 | 2019-05-10 | 陈英锋 | A kind of new-type pipeline and container damage detection device |
| CN109975424A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of preceding surfaces externally and internally ultrasonic examination tool of adapter tube factory |
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| CN108845027A (en) * | 2018-03-15 | 2018-11-20 | 宁波市特种设备检验研究院 | A kind of scanning equipment for the detection of plug-in type Nozzle weld |
| CN108956765A (en) * | 2018-06-06 | 2018-12-07 | 中国农业大学 | Gas spring space three-freedom adaptive mechanism for curved surface non-destructive testing |
| CN108956765B (en) * | 2018-06-06 | 2020-10-16 | 中国农业大学 | Pneumatic spring space three-degree-of-freedom self-adaptive mechanism for nondestructive testing of curved surface |
| CN109342561A (en) * | 2018-10-18 | 2019-02-15 | 吉林大学 | Curved surface weldment ultrasonic detection device and method |
| WO2020103361A1 (en) * | 2018-11-19 | 2020-05-28 | 西安交通大学 | Optical fiber laser induced breakdown spectroscopy detection device and method |
| US11346781B2 (en) | 2018-11-19 | 2022-05-31 | Xi'an Jiaotong University | Optical fiber laser induced breakdown spectroscopy detection device and method |
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| CN110018227A (en) * | 2019-04-24 | 2019-07-16 | 中国石油大学(北京) | Water proof tube detection device |
| CN110568066A (en) * | 2019-08-02 | 2019-12-13 | 江苏方建质量鉴定检测有限公司 | Phased array ultrasonic wave concrete reinforcement corrosion detection device |
| CN110568066B (en) * | 2019-08-02 | 2022-10-25 | 江苏方建质量鉴定检测有限公司 | Phased array ultrasonic concrete reinforcement corrosion detection device |
| CN110530977A (en) * | 2019-08-23 | 2019-12-03 | 中国石化销售有限公司华南分公司 | A kind of valve external cylindrical pipe damage detection device |
| CN110530977B (en) * | 2019-08-23 | 2021-07-27 | 中国石油化工股份有限公司 | Valve external cylindrical pipeline damage detection device |
| CN110825082B (en) * | 2019-11-12 | 2023-04-25 | 宁波市劳动安全技术服务公司 | Scanning frame and path planning method thereof |
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| CN111766297A (en) * | 2020-06-30 | 2020-10-13 | 三一汽车制造有限公司 | Conveying pipe detection device and conveying pipe detection system |
| CN111766297B (en) * | 2020-06-30 | 2023-03-24 | 三一汽车制造有限公司 | Conveying pipe detection device and conveying pipe detection system |
| CN112067693A (en) * | 2020-09-01 | 2020-12-11 | 南京咏诚工程科技有限公司 | Steel structure weld joint detection device and application method thereof |
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| CN112147220A (en) * | 2020-09-02 | 2020-12-29 | 中石化工建设有限公司 | Nondestructive testing device for internal defects of concrete member |
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