GB2287767A - Apparatus for cleaning the interiors of pipes - Google Patents
Apparatus for cleaning the interiors of pipes Download PDFInfo
- Publication number
- GB2287767A GB2287767A GB9404999A GB9404999A GB2287767A GB 2287767 A GB2287767 A GB 2287767A GB 9404999 A GB9404999 A GB 9404999A GB 9404999 A GB9404999 A GB 9404999A GB 2287767 A GB2287767 A GB 2287767A
- Authority
- GB
- United Kingdom
- Prior art keywords
- pipe
- cleaning element
- motor
- fluid
- cleaning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/043—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes
- B08B9/047—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
A rotary pipe cleaning element driven e.g by a hydraulic motor effects positive cleaning of the internal surface of a pipe, the fluid outlet of the motor being arranged e.g via jets 26 to flush away matter removed from the pipe surface. The apparatus may be winched through a pipe and/or driven by a hydraulic drive. Two cleaning elements 18, 30 may be provided, and wheels 36, 38 may be provided to centre and guide the machine in the pipe. The brush elements may be changed to cater for different pipe sizes without the need to change the hydraulic pressure supply. In an alternative embodiment an electric drive motor may be provided, the water supply being used only for flushing or washing. Also claimed is a method of cleaning pipes including the steps of providing a rotary power driven cleaning element and flushing away matter removed thereby. <IMAGE>
Description
PIPE CLEANING
This invention relates to pipe cleaning and provides a method and apparatus therefor. The invention is particularly applicable to the cleaning of water supply pipes of various cross-sectional sizes but is applicable also to other conduits such as gas mains, factory pipes and indeed any conduit of a size in which a device of this kind can be located.
Prior proposals in relation to pipe cleaning include the now conventional system employed in the UK for pipe cleaning in which water jets are employed. So-called "jetting machines" are employed in which a supply of water at relatively high pressures is delivered to a nozzle which is passed through the pipe to be cleaned. The nozzle has jets which are directed at least partially rearwardly in order to generate a forward drive, and the cleaning of the pipe is effected purely by the action of the water jets on the pipe surfaces and the material adhering thereto.
Shortcomings of this prior system include firstly the fact that the cleaning action is not sufficiently positive.
Even though high water pressures are employed, it is found in practice that every time the device is passed through a pipe, more matter is cleaned off and therefore, plainly, the cleaning action is not complete until multiple passes have been made.
Another factor concerns the application of the system to pipes of differing cross-sectional size. Thus, in order to accommodate large pipes, it is necessary to have extremely high pressure pumps to deliver the water to the jets. This leads to correspondingly high costs for the pumps themselves and the use of very high water pressures such as lo,ooopsi can lead to dangers and indeed to damage of the pipes if adequate care is not exercised.
Thus for a contractor to be able to offer the facility to clean a variety of pipe sizes, there is a need to have available a range of jetting machines offering a corresponding range of water delivery pressures and this leads to high equipment costs and other complications.
An object of the present invention is to provide a method and apparatus offering a more positive cleaning effect in relation to pipes, and/or a facility to accommodate differing pipe cross-sectional sizes in an effective manner, and/or one or more other improvements as disclosed herein or improvements generally.
According to the invention there is provided a method and apparatus for pipe cleaning as defined in the accompanying claims.
In an embodiment there is provided a method and apparatus in which a source of hydraulic pressure drives a motor coupled to a rotary pipe cleaning element, for example a brush. The water or other fluid discharge from the hydraulic motor serves to clean and/or flush away matter from the pipe surface.
Thus, there is provided a direct and positive cleaning effect in association with a flushing effect whereby a water supply under pressure achieves positive cleaning of a pipe surface without the need for excessively high pressure jets.
In another embodiment the drive for the rotary pipe cleaning element is not provided by a hydraulic motor but by an alternative source of power such as an electric motor. In this embodiment, the flushing function can still be performed by a water supply as in the previous embodiment, but it may not be necessary to provide a water pressure sufficient for a hydraulic motor. It is envisaged that the flushing function might be carried out later in a separate pass of the apparatus.
By using a mechanical cleaning element such as a brush, a direct and positive cleaning effect is achieved. Provision can be made for the cleaning element to be readily interchangeable with alternative cleaning elements to accommodate differing pipe sizes. No other significant adaptation of the device is needed, other than this.
Water jets providing an outlet for the water supply which has driven the motor may be provided at a suitable location downstream of the location at which the brush effects cleaning of the pipe. A further feature of the invention provides a secondary cleaning element, for example a less aggressive brush or the like to be located at a position further downstream from the first brush and the water jets.
An alternative arrangement for a modified flushing function envisages the provision of a water outlet in the water supply line to provide an additional flushing function, the water outlet being located on the upstream side of the hydraulic motor. Such an arrangement requires, of course, careful co-ordination with the requirements of the hydraulic motor itself.
In the embodiments, the flushing function may be provided by water or other fluid jets directed generally outwardly from the apparatus at a suitable location or there may be provided alternatively or in addition an arrangement in which the fluid outlet from the motor, or the fluid outlet upstream of the motor, discharges a suitable quantity of fluid into the rotary pipe cleaning element, or in the region thereof, so that without the need for a jet the fluid is caused by the rotary motion of the pipe cleaning element to be moved outwardly to perform its flushing function.
Centring means may be provided to position the device at a location approximately centrally with respect to the transverse cross-sectional shape of the pipe. The centring device may comprise a series of outwardly spring-urged roller elements or castors. In this way, the device can accommodate bends in the pipe more readily.
In the embodiments, the means for moving the device lengthwise of the pipe may comprise the use of generally rearwardly-directed jets to generate motive force and/or the use of a tension element such as a rope or wire to pull the device lengthwise of the pipe. A similar device may be provided to pull the device back towards its starting point if required. The means for connecting a wire or other tension device to the cleaning device for the purpose aforesaid may comprise the use of a float element such as a sponge which can be caused to travel lengthwise of the pipe from an access opening into which it is introduced to the pipe and caused to move lengthwise thereof by the water flow therethrough.
Alternatively, or in addition to the provision of the tension element for pulling or winching the apparatus lengthwise of a pipe there may be provided a drive for the apparatus in which drive elements such as wheels engage the surface of the pipe and impart a traction force to the apparatus, tending to move it lengthwise of the pipe. The wheels or other drive elements are coupled to the hydraulic motor which drives the brush or brushes or other rotary pipe cleaning elements.
The motor driving the brushes or other cleaning elements may be provided with a change-speed gearbox to accommodate the motor speed to the brush requirements. In use, brush speed can be controlled to some extent by changing the water supply pressure from the pump driving the device. The motor driving the brushes may be provided with an automatic cut-out to avoid damage to the device in the event of the torque rising excessively on encountering an obstacle.
Embodiments of the invention will now be described by way of example with reference to the accompanying drawings in which
Fig 1 shows an axial section through apparatus according to the invention; and
Fig 2 shows a corresponding axial section through a second embodiment; and
Fig 3 shows, somewhat diagrammatically, and on a significantly smaller scale, apparatus of the kind shown in
Fig 1 or Fig 2 in association with a water pump and a winch for pulling the apparatus through a pipe to be cleaned.
As shown in Fig 1 apparatus 10 for cleaning a pipe 12 or other conduits comprises a coupling 14, for coupling the apparatus to a source of hydraulic fluid pressure, outlet means 16 for the hydraulic fluid to permit same to flush away matter removed from the pipe, and a rotary pipe cleaning element 18 mounted for cleaning engagement with adhering matter on the inner surface of the pipe 12. A motor 20 is provided to drive the pipe cleaning element. Motor 20 is a fluid pressure operated motor having an inlet 22 coupled to coupling 14 and an outlet 24 whereby spent fluid from the motor is discharged for a purpose to be described.Outlet 24 from motor 20 and outlet 16 for the fluid to flush away matter removed co-operate by enabling the fluid outlet from the motor to be discharged through spaced jets 26 formed in a tube 28 whereby the inner surface of pipe 12 is sprayed with fluid, in this case water.
In this embodiment there is provided a second rotary pipe cleaning element 30 located at an axially spaced position from pipe cleaning element 18. As shown in Fig 1, the direction of in-use forward travel of the apparatus is indicated by arrow F. Accordingly, pipe cleaning element 18 provides the initial pipe cleaning action and there is provided at a closely-spaced downstream location the water jets 26. Then, at a location further downstream there is provided the second pipe cleaning element 30 to effect a second stage of cleaning, whereby any final traces of matter are removed from the pipe.
In this embodiment the pipe cleaning element 18 is in the form of a de-scaler having steel brush elements. The pipe cleaning element 30 in this embodiment is in the form of a brush and is of significantly greater axial length than the pipe cleaning element 18. Both pipe cleaning elements are driven by motor 20 and are coupled thereto through mounting means permitting the brushes to be changed for alternative brushes of differing size so as to be suitable for cleaning action in larger or smaller pipes.
In the case of brush 30, arrangements are made for water from coupling 14 to be discharged at the hub or mounting of the brush into the body of the brush so as to be moved outwardly by the rotary action of the brush so as to effect a flushing or washing action at the outer periphery of the brush.
Centring apparatus is provided to maintain the apparatus approximately centrally with respect to the cross-sectional shape of the pipe 12. The centring apparatus comprises four resiliently outwardly-urged castors 32 which are acted on by springs 34. Two sets of such castor apparatus 36 and 38 are provided at opposite axial ends of the apparatus.
To effect lengthwise movement of the apparatus through a pipe to be cleaned there is provided a connection 40 at the forward end thereof for a towing rope or wire 49, to be described further below in relation to Fig 3. Additionally, there is provided a drive to assist in moving the apparatus through a pipe, the drive comprising driven wheels 42 which are coupled to motor 20 and engage the surface of pipe 12 to effect a drive in the direction F.
In the embodiment of Fig 2, the apparatus is generally constructed and arranged in a manner similar to that of Fig 1, but is somewhat simplified. In this embodiment, parts corresponding to those of Fig 1 are given the same reference numeral increased by 100. Thus, motor 20 becomes 120 etc.
In the embodiment of Fig 2 the main distinctions from that of Fig 1 are the provision of only a single brush assembly, the use of jets at an upstream location of the single brush, and the provision of different centring apparatus.
As shown in Fig 2, motor 120 is provided with jets 160 at its forward end and from which spent water from the motor is discharged generally radially outwardly.
The centring apparatus 162 comprises guides 164 located at a series of equally spaced positions around the periphery of motor 120 and which are resiliently outwardly urged for engagement with the inner surface of pipe 112 to perform a centring function corresponding to that of castors 32. It will be noted that there is shown in Fig 2 the optional provision of additional guides 166 at a location towards the rearward end of the apparatus. These guides perform a supplemental centring and guiding function for the apparatus.
Both sets of guides offer an anti-rotation function to offset the torque applied to the apparatus by motor 120.
Operation of the two embodiments of the apparatus will now be described with reference also to Fig 3.
In operation, the apparatus 10 or 110 is placed in the pipe or conduit as shown in Fig 3. The apparatus is connected by a high pressure hose 44 to a high pressure water pump 46, the hose extending through an access opening 48.
At the forward end of the apparatus a cable or rope is fastened to connection 40 in the form of an apertured nose.
In the embodiment of Fig 2 a swivel coupling 140 is provided.
The rope or cable is connected through another access opening 50 to a winch 152. The cable passes around guides or rollers 154.
On activating the water pump 46 a supply of water under pressure is delivered to motor 20 and steel brush 18 and the rear brush 30 are both rotated. The waste water from motor 20 is delivered through jets 26 and to the hub of brush 30 and effects a flushing or washing action on the matter removed from the pipe by the brushes. The apparatus is centred by castors 32.
As cleaning proceeds, the apparatus is drawn lengthwise of pipe 12 and this movement is assisted by the drive to wheels 42.
Accordingly, it can be seen that the method and apparatus provides a means whereby positive internal cleaning of pipes is provided with simultaneous flushing away of removed matter.
The requirements of the apparatus in terms of water under pressure are relatively modest as compared with previously proposed jetting apparatus. Moreover, the hydraulic pressure supply does not need to be changed significantly when the apparatus is used in pipes of different sizes. For this purpose, it is merely necessary to change the sizes of the brushes accordingly.
In the embodiment of Fig 3 it is shown that the water supply hose is connected to the apparatus from behind the apparatus, having regard to its direction of travel, and the hauling cable or rope is connected to the front thereof. In some particular use situations it may be possible to have both of these connections on the same side of the apparatus.
Indeed, the rope or cable may be combined with the hydraulic hose, and/or the winch with the water pump.
Amongst modifications envisaged in relation to the abovedescribed embodiments are the provision of alternative rotary pipe cleaning elements, which are in forms other than those of brushes. Secondly, considerable variation in the mode of driving the rotary pipe cleaning elements can be envisaged including the use of alternative motors, the use of a supply of water for flushing or washing purposes independently of the power source for the motor, modifications in the position of the water outlets or jets, modifications in the number of rotary pipe cleaning elements, and the provision of alternative means for advancing the apparatus through a pipe.
Claims (18)
1 Apparatus for cleaning pipes and other conduits comprising
a) means for coupling the apparatus to a source of fluid pressure; and
b) outlet means for said fluid to permit same to flush away matter removed from an inner surface of a pipe to be cleaned;
characterised by
c) a rotary pipe cleaning element mounted for cleaning engagement with adhering matter on the inner surface of a pipe to be cleaned;
d) a motor to drive said rotary pipe cleaning element, said motor being a fluid pressure operated motor having a fluid inlet coupled to said means for coupling, and an outlet for the fluid; and
e) said outlet for said fluid from said motor being arranged to discharge said fluid so that the fluid, in use, flushes away matter removed by said rotary pipe cleaning element.
2 Apparatus for cleaning pipes and other conduits characterised by a rotary pipe cleaning element and a drive therefor, and flushing means to flush away matter removed by said rotary pipe cleaning element.
3 Apparatus according to claim 1 characterised by said rotary pipe cleaning element being of an effective diameter, in use, corresponding to the nominal internal minimum dimension of a pipe to be cleaned, within a range of 0 to 5 millimetres clearance from the surface thereof.
4 Apparatus according to any one of claims 1 to 3 characterised by mounting means for said rotary pipe cleaning element permitting the interchange of two or more rotary pipe cleaning elements having different effective diameters for use in pipes of different sizes.
5 Apparatus according to any one of the preceding claims characterised by said outlet of said motor being arranged so that said fluid produces jets of fluid in use.
6 Apparatus according to any one of the preceding claims characterised by said outlet of said motor being arranged so that said fluid is dispensed outwardly by rotation of the rotary pipe cleaning element in use.
7 Apparatus according to any one of the preceding claims characterised by the provision of a second rotary pipe cleaning element located at an axially spaced position from the other rotary pipe cleaning element.
8 Apparatus according to any one of the preceding claims characterised by a pipe-engageable centring element adapted to tend to maintain said apparatus approximately centrally with respect to the cross-sectional shape of a pipe or conduit to be cleaned.
9 Apparatus according to claim 8 characterised by said pipe engageable centring element comprising at least three resiliently-outwardly-urged pipe engaging elements.
10 Apparatus according to claim 9 characterised by the provision of two sets of said pipe engageable centring elements at axially spaced positions on said apparatus.
11 Apparatus according to any one of the preceding claims characterised by attachment means for a tension element to pull said apparatus through a pipe to be cleaned.
12 Apparatus according to any one of the preceding claims characterised by a drive for said apparatus, the drive being engageable, in use, with the internal surface of a pipe to be cleaned so as to drive the apparatus lengthwise of said pipe to be cleaned, said drive being coupled to said motor.
13 A method for cleaning pipes and other conduits comprising flushing away matter removed from an inner surface of a pipe to be cleaned, characterised by providing a rotary pipe cleaning element and a motor to drive same and causing fluid to flush away matter removed by said rotary pipe cleaning element.
14 A method according to claim 13 characterised by the step of interchanging said rotary pipe cleaning element for another such pipe cleaning element of differing effective diameter so as to adapt the apparatus to accommodate a pipe of a different size.
15 A method according to claim 14 characterised by the step of utilising substantially the same or similar fluid pressure for cleaning pipes of different sizes utilising said two rotary pipe cleaning elements of said different sizes.
16 A method according to any one of claims 13 to 15 characterised by the step of connecting a tension element to said apparatus and winching or otherwise drawing the apparatus lengthwise of a pipe to be cleaned while rotating said rotary pipe cleaning element and flushing away matter removed thereby.
17 Apparatus for cleaning pipes substantially as hereinbefore described with reference to the drawings.
18 A method for cleaning pipes substantially as hereinbefore described with reference to the drawings.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB9404999A GB2287767B (en) | 1994-03-15 | 1994-03-15 | Pipe cleaning |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB9404999A GB2287767B (en) | 1994-03-15 | 1994-03-15 | Pipe cleaning |
Publications (3)
Publication Number | Publication Date |
---|---|
GB9404999D0 GB9404999D0 (en) | 1994-04-27 |
GB2287767A true GB2287767A (en) | 1995-09-27 |
GB2287767B GB2287767B (en) | 1998-08-12 |
Family
ID=10751857
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
GB9404999A Expired - Fee Related GB2287767B (en) | 1994-03-15 | 1994-03-15 | Pipe cleaning |
Country Status (1)
Country | Link |
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GB (1) | GB2287767B (en) |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1052032A1 (en) * | 1999-05-10 | 2000-11-15 | COCKERILL MECHANICAL INDUSTRIES Société Anonyme | Motorised device for internally descaling pipelines by mechanical brushing |
WO2008039075A1 (en) * | 2006-09-28 | 2008-04-03 | Sub Aqua Technology As | Device for a pig |
US20110017233A1 (en) * | 2008-03-14 | 2011-01-27 | Diversey, Inc. | Cleaning bullet and method of operating the same |
CN102218421A (en) * | 2011-04-13 | 2011-10-19 | 沈阳航空航天大学 | Self-adapting air conditioning pipeline cleaning robot |
CN102500588A (en) * | 2011-09-30 | 2012-06-20 | 林吉明 | Machine capable of cleaning pipes different in diameter |
CN102873066A (en) * | 2012-11-02 | 2013-01-16 | 山东理工大学 | Planetary self-adaptive pipeline cleaning robot |
CN102921683A (en) * | 2012-10-29 | 2013-02-13 | 山东理工大学 | Planetary pipeline cleaning robot |
CN102921684A (en) * | 2012-11-05 | 2013-02-13 | 山东理工大学 | Rear-mounted planetary pipeline cleaning robot |
US8973738B2 (en) | 2011-03-28 | 2015-03-10 | Diversey, Inc. | Cleaning device |
CN105436159A (en) * | 2015-12-21 | 2016-03-30 | 济南陆枋志合信息技术有限公司 | Elliptical pipeline inner wall cleaning robot |
CN105508801A (en) * | 2015-12-23 | 2016-04-20 | 济南陆枋志合信息技术有限公司 | Device for painting inner wall of oval pipeline |
CN106312672A (en) * | 2016-08-18 | 2017-01-11 | 苏州毕诺佳医药技术有限公司 | Intelligent device used for medical cutting and convenient to clean |
CN112097408A (en) * | 2020-09-11 | 2020-12-18 | 永康仁诒电子科技有限公司 | Cleaning equipment for inner wall of solar water heater pipe |
CN114673863A (en) * | 2022-04-07 | 2022-06-28 | 江苏省特种设备安全监督检验研究院 | Robot and detection method for phased array nondestructive detection of interior of pipeline |
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Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1052032A1 (en) * | 1999-05-10 | 2000-11-15 | COCKERILL MECHANICAL INDUSTRIES Société Anonyme | Motorised device for internally descaling pipelines by mechanical brushing |
WO2008039075A1 (en) * | 2006-09-28 | 2008-04-03 | Sub Aqua Technology As | Device for a pig |
US8732894B2 (en) * | 2008-03-14 | 2014-05-27 | Diversey, Inc. | Cleaning bullet and method of operating the same |
US8454753B2 (en) * | 2008-03-14 | 2013-06-04 | Diversey, Inc. | Cleaning bullet and method of operating the same |
US20130008467A1 (en) * | 2008-03-14 | 2013-01-10 | Diversey, Inc. | Cleaning bullet and method of operating the same |
US20110017233A1 (en) * | 2008-03-14 | 2011-01-27 | Diversey, Inc. | Cleaning bullet and method of operating the same |
US8973738B2 (en) | 2011-03-28 | 2015-03-10 | Diversey, Inc. | Cleaning device |
CN102218421A (en) * | 2011-04-13 | 2011-10-19 | 沈阳航空航天大学 | Self-adapting air conditioning pipeline cleaning robot |
CN102500588A (en) * | 2011-09-30 | 2012-06-20 | 林吉明 | Machine capable of cleaning pipes different in diameter |
CN102921683A (en) * | 2012-10-29 | 2013-02-13 | 山东理工大学 | Planetary pipeline cleaning robot |
CN102873066A (en) * | 2012-11-02 | 2013-01-16 | 山东理工大学 | Planetary self-adaptive pipeline cleaning robot |
CN102921684A (en) * | 2012-11-05 | 2013-02-13 | 山东理工大学 | Rear-mounted planetary pipeline cleaning robot |
CN105436159A (en) * | 2015-12-21 | 2016-03-30 | 济南陆枋志合信息技术有限公司 | Elliptical pipeline inner wall cleaning robot |
CN105508801A (en) * | 2015-12-23 | 2016-04-20 | 济南陆枋志合信息技术有限公司 | Device for painting inner wall of oval pipeline |
CN105508801B (en) * | 2015-12-23 | 2017-11-07 | 黄俊龙 | A kind of device painted for oval ducts inwall |
CN106312672A (en) * | 2016-08-18 | 2017-01-11 | 苏州毕诺佳医药技术有限公司 | Intelligent device used for medical cutting and convenient to clean |
CN112097408A (en) * | 2020-09-11 | 2020-12-18 | 永康仁诒电子科技有限公司 | Cleaning equipment for inner wall of solar water heater pipe |
CN112097408B (en) * | 2020-09-11 | 2021-06-22 | 绍兴市沂风机械有限公司 | Cleaning equipment for inner wall of solar water heater pipe |
CN114673863A (en) * | 2022-04-07 | 2022-06-28 | 江苏省特种设备安全监督检验研究院 | Robot and detection method for phased array nondestructive detection of interior of pipeline |
CN114673863B (en) * | 2022-04-07 | 2023-01-13 | 江苏省特种设备安全监督检验研究院 | Robot and detection method for phased array nondestructive detection of interior of pipeline |
Also Published As
Publication number | Publication date |
---|---|
GB9404999D0 (en) | 1994-04-27 |
GB2287767B (en) | 1998-08-12 |
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PCNP | Patent ceased through non-payment of renewal fee |
Effective date: 20110315 |