CN106439387A - Pipeline robot capable of self-adapting to pipe diameter - Google Patents
Pipeline robot capable of self-adapting to pipe diameter Download PDFInfo
- Publication number
- CN106439387A CN106439387A CN201611151477.5A CN201611151477A CN106439387A CN 106439387 A CN106439387 A CN 106439387A CN 201611151477 A CN201611151477 A CN 201611151477A CN 106439387 A CN106439387 A CN 106439387A
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- China
- Prior art keywords
- bevel gear
- gear
- expansion link
- wheel
- self adaptation
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- 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.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pipeline robot capable of self-adapting to the pipe diameter. The pipeline robot comprises a shell, a control part, telescopic rods and advancing mechanisms; the shell is arranged at the center, the inner wall of the shell is matched with a support plate in an embedded mode, and the control part is installed on the support plate; the control part comprises a control box, servo motors, speed reducers, gyroscopes and accelerometers; each telescopic rod comprises a gear transmission part and a thread transmission part, and length adjustment is achieved; each advancing mechanism comprises an advancing wheel, a bevel gear and a fixing sleeve, wherein stable meshing of a pair of gears can be guaranteed through the fixing sleeve; on the condition that the telescopic rods change along with changes of the pipe diameter, the meshed gears are not separated, and transmission is not influenced. The pipeline robot capable of self-adapting to the pipe diameter is applied to pipelines with the different pipe diameters and can carry a detection device to collect position coordinates, and in the information collecting process, it is guaranteed that the detection device is always within the pipeline axis line error allowable range.
Description
Technical field
The present invention relates to robot field.Specifically a kind of pipe robot of self-adapting pipe caliber.
Background technology
Paces with modernization and urbanization are accelerated, and pipeline extensively should as a kind of important material mode of movement
With, because urban Underground pipeline spatial depiction is extremely complex, such kind of area construction risk and difficulty increasing, due to applying
The security incident that the indefinite underground piping of work process is distributed and causes is of common occurrence, therefore, specifies the distribution situation of underground piping
Particularly important.In view of the limitation of pipeline internal working volume, manual work's intensity is big, therefore needs pipe robot to carry detection
Device is walked in pipeline internal, is gathered and recorded by detection means pipeline distribution three-dimensional coordinate information, thus understanding underground piping
Distribution situation.
Existing pipe robot mainly has flow-type, wheeled, crawler type, creeping motion type, walking, snakelike etc., or along wallflow
Walk, or in duct bottom walking, or be unable to reducing, for carrying detection means and be allowed to be in pipeline axial line error and allow model
Enclose the pipe robot of interior position, also there is no Related product.
Content of the invention
The present invention is intended to provide a kind of pipe robot of self adaptation caliber, this pipe robot both can again may be used with reducing
Pipeline axle center line position in error allowed band is in the detection means ensureing entrained.
A kind of pipe robot of self adaptation caliber, including housing, control section, expansion link, walking mechanism.Housing is whole
Individual device plays and supports fixing effect, and control section ensures that whole device realizes required function, and expansion link is in whole device
In play roll adjustment and gearing, walking mechanism provides power by servomotor.
Described housing is located at the center of whole device, and inner walls embed gripper shoe, connects on the supporting plate and controls
Part；Described control section, including control box, servomotor, decelerator, gyroscope and accelerometer, comprises in control box to control
Circuit processed, gyroscope and accelerometer use cooperatively and judge ramp angle；Described expansion link includes gear drive and screw-driven,
Realize distance to adjust, and transmit power to walking mechanism；Described walking mechanism includes 12 travel wheel, bevel gear, fixed covers, Gu
Fixed set ensures the situation that intermeshing a pair of gear can keep engagement stable, change with caliber in expansion link and change
Under, pitch wheel does not separate, and does not affect to be driven；12 points two groups of described travel wheel, i.e. forward and backward travel wheel group, often
Group 6 is separated into three groups according to being separated by 120 degree, and every group of two wheels are placed in the both sides of bevel gear by axial symmetry；With this cone
Another bevel gear that gear is meshed is connected with expansion link, one of cone of the other end of expansion link and another bevel-gear sett
Gear connects, and the bevel gear being engaged with is connected with servomotor by the decelerator of control section, so, is uniformly distributed in three
Individual direction.
The pipe robot of described self adaptation caliber, also includes the detection means for detecting pipeline three-dimensional coordinate.
Described Telescopic rod structure includes：Spur gear, gear shaft, screw, tapped geared sleeve, not tapped tooth
Wheel case, carries externally threaded cylinder thin-wall construction, and pitch is corresponding with tapped geared sleeve, and the transmission of expansion link internal gear is by electricity
Machine drives thus driving outer gear sleeve, carries externally threaded thin wall cylindrical structure also by Motor drive, roll adjustment is realized in the two cooperation.
Described travel wheel is rubber wheel, increases the frictional force between travel wheel and inner-walls of duct, and hub material selects quality
Lighter aluminum alloy material, reduces the weight of single unit system.
The described decelerator being connected between servomotor and bevel gear is planetary reduction gear or straight-tooth wheel decelerator.
Bevel gear on the described countershaft being connected to pair of tyres, its outside diameter is necessarily less than diameter of tyres；With this tooth
Wheel meshed gears outside diameter is necessarily less than the distance between travel wheel being symmetrically distributed in this bevel gear both sides, first, keeping away
Exempt from bevel gear to rub with ground or tire, second, avoiding that fit dimension is unreasonable to lead to motion failures, other sizes are also
So.
Described expansion link as power transmission shaft and has the effect adjusting distance, as power transmission shaft, transmits torque actuated and advances
Mechanism completes to move, and roll adjustment ensures that device adapts to caliber change.
The present invention is different with the emphasis of other pipe robots, and most of pipe robot is used for overhauling, cleaning,
Fault detect etc., is specifically designed for the maintenance of pipeline itself and designs, and the present invention lays particular emphasis on and carries detection means and ensure detection dress
Put the pipeline axle center line position being in error allowed band, the path that it is passed by is carried according to pipe robot by detection means
Detect three-dimensional coordinate and record.
The adopted expansion link of the present invention, in its structure, tapped geared sleeve is joined with carrying externally threaded cylinder thin-walled mechanism
Close and use, gear drive sliding tooth wheel case rotates, screw-driven drive belt helicitic texture moves, by two motors to gear and
Relative rotation speed with externally threaded cylinder thin-wall construction controls, and realizes holding and the change of distance.
The present invention has 2 kinds of measurement pipe routing methods：1) found range by ultrasonic wave module；2) pass through length of telescopic bar variable quantity with
And whole device related hardware Size calculation goes out caliber value.
Travel wheel adopts rubber wheel, has an advantage in that the friction increasing between pipeline and wheel, it is ensured that travel wheel is non-slip, has
There is provided enough frictional force beneficial to during climbing, wheel hub adopts aluminum alloy material, has an advantage in that the weight of alleviator itself, improve
Motility.
Travel wheel of the present invention exists in pairs, advances with respect to independent wheel, has an advantage in that and strengthens the steady of pipe robot
Qualitative.
The present invention adopts 120 degree distributed frames, has an advantage in that stably, and can distractive load, bear larger power.
Microcontroller of the present invention need to meet the wide requirement of power supply voltage range, because pipe robot is in load
In the case of big or walking distance length, expansion link voltage has declined, and for ensureing microcontroller normal work, this is accomplished by it
Itself there is the supply voltage of relative broad range, such as STM32 microcontroller possesses this advantage.
Bevel Gear Transmission of the present invention, has an advantage in that and changes transmission direction using bevel gear.
Brief description
It is illustrated in figure 1 the pipe robot overall structure diagram of self adaptation caliber.
It is illustrated in figure 2 the pipe robot overall structure front view of self adaptation caliber.
It is illustrated in figure 3 the sectional view of the pipe robot front view of self adaptation caliber along A-A direction.
It is illustrated in figure 4 the pipe robot expansion link schematic diagram of self adaptation caliber.
It is illustrated in figure 5 the pipe robot Telescopic rod structure figure of self adaptation caliber.
It is illustrated in figure 6 the pipe robot walking mechanism structure chart of self adaptation caliber.
In figure：Total score four part：1st, walking mechanism, 2, expansion link, 3, housing, 4, control section；Corresponding every part：101、
Bevel gear A, 102, axletree, 103, fixed cover, 104, bevel gear B, 105, wheel；201st, motor internal, 202, connector,
203rd, tapped external teeth wheel case, 204, carry externally threaded cylinder thin-wall construction, 205, gear shaft, 206, screw, 207,
Spur gear, 208, key, 209, not threaded external teeth wheel case；301st, shell body, 302, gripper shoe；401st, control box, 402,
Connecting post, 403, underlying 120 degree of motor box, 404, bevel gear D, 405, bevel gear C, 406, servomotor, 407, supporting table.
Specific embodiment
As Fig. 1, shown in Fig. 2, Fig. 3, Fig. 5, Fig. 6, a kind of pipe robot of self adaptation caliber, including housing 3, for whole
Device provides stable supporting construction, and including shell body 301 and gripper shoe 302, shell, 301 is cylinder thin-wall construction, gripper shoe
On 302, portability three-dimensional detection device is detected.It is separated by 3 circular holes of 120 degree of each distributions successively before and after shell body 301, totally 6
Individual.Circular hole effect is through expansion link 2, and expansion link 2 connects control section 4 and travel wheel group 1.Shell body 301 inwall embeds
One piece of gripper shoe 302, above puts control box 401, positions assembling by connecting post 402, underlying 120 degree of motor box 403, for installing
120 degree of distribution motors, gripper shoe 407 are installed servomotor 406, servomotor 406 connects bevel gear D404, with bevel gear
The band externally threaded cylinder thin-wall construction 204 of the bevel gear C405 connection expansion link 2 of D404 engagement, carries externally threaded cylinder thin-walled
Structure 204 connects tapped external teeth wheel case 203 by screw-driven, and not threaded external teeth wheel case passes through screw
207 are connected with 203, are connected with spur gear 207 by gear drive by the geared sleeve that 203 and 204 form, 207 pass through key 208 with
Gear shaft 205 connects.Motor internal 201 and gear shaft 205 are connected by connector 202, and connector 202 functions as shaft coupling
Device, connects the different axle of two diameters, transmitting torque.The not threaded external teeth wheel case of expansion link 2 passes through connector and cone
Gear B 104 connects, and is connected with pair of wheels 105 by axletree 102 with the bevel gear A101 of bevel gear B104 engagement, purpose
It is to ensure that stable movement, make wheel 105 stable along inner-walls of duct walking using Bevel Gear Transmission.Axletree 102 and expansion link 2
Not threaded external teeth wheel case is connected set 103, and fixed cover 103 is cuboid thin-wall construction it is ensured that two is intermeshing
Bevel gear B104 and bevel gear A101 does not shift, and maintains stable drive.Pressure is installed between wheel 105 and axletree 102
Force transducer, signal is fed back to control section 4 by the change according to pressure, controls to adjust the length of expansion link 2 by control box 401
Degree change, under driving while two motors 201 and 406, roll adjustment function realized by expansion link 2.
When pipe robot is normally walked in caliber identical pipeline, control whole expansion link motor 406 with stretch
Contracting bar motor internal 201 rotating speeds are identical, with avoid the relative motion that leads to because of screw-driven change expansion link length so that
Equal in error allowed band in 120 degree of each length of telescopic bar distributed, caliber does not change normal walking situation
Under, walking mechanism 1 pressure keeps stable, and when caliber changes, the pressure signal detecting is become by pressure transducer
Change and feed back to control section 4, control the motor 406 of whole expansion link 2, different from expansion link motor internal 201 rotating speed, according to pipe
Footpath changes size, thread rotary orientation and pitch determine the change to realize expansion link 2 length of the relative rotation speed size of two motors, reaches
Purpose to self adaptation caliber.
Claims (8)
1. a kind of pipe robot of self adaptation caliber it is characterised in that：Including housing, control section, expansion link, traveling machine
Structure；Housing plays for whole device and supports fixing effect, and control section ensures that whole device realizes required function, expansion link
Play roll adjustment effect in whole device, walking mechanism provides power by servomotor, and described housing is located in whole device
Heart position, inner walls embed gripper shoe, connect control section on the supporting plate；Described control section, including control box, servo
Motor, decelerator, gyroscope and accelerometer, comprise control circuit in control box, gyroscope and accelerometer are used for judging to climb
Angle of slope；Described expansion link includes gear drive and screw-driven, realizes distance and adjusts；Described walking mechanism includes 12 travelings
Wheel, bevel gear, fixed cover, fixed cover ensures that intermeshing a pair of gear can keep engagement stable, in expansion link with pipe
In the case that footpath changes and changes, pitch wheel does not separate, and does not affect to be driven；12 points two groups of described travel wheel,
I.e. forward and backward travel wheel group, every group 6 are separated into three groups according to being separated by 120 degree, and every group of two wheels are placed in cone by axial symmetry
The both sides of gear；It is connected with expansion link with another bevel gear that this bevel gear is meshed, the other end of expansion link is right with another
One of bevel gear of bevel gear connects, and the bevel gear being engaged with passes through decelerator and the servomotor phase of control section
Even, so, it is uniformly distributed in three directions.
2. self adaptation caliber as claimed in claim 1 pipe robot it is characterised in that：Also include for detecting pipeline three
The detection means of dimension coordinate.
3. self adaptation caliber as claimed in claim 1 pipe robot it is characterised in that：Described Telescopic rod structure includes：
Spur gear, gear shaft, tapped geared sleeve, not tapped geared sleeve, carry externally threaded cylinder thin-wall construction, pitch
Corresponding with tapped geared sleeve.
4. self adaptation caliber as claimed in claim 1 pipe robot it is characterised in that：Described travel wheel is rubber wheel,
Hub material selects the aluminum alloy material of lighter weight.
5. self adaptation caliber as claimed in claim 1 pipe robot it is characterised in that：Described be connected to servomotor and
Decelerator between bevel gear is planetary reduction gear or straight-tooth wheel decelerator.
6. self adaptation caliber as claimed in claim 1 pipe robot it is characterised in that：Described in the middle of one wheel pairs
Bevel gear, its outside diameter is necessarily less than diameter of tyres；It is right that the bevel gear outside diameter being engaged with this bevel gear is necessarily less than
Claim to be distributed in the distance between travel wheel of this bevel gear both sides.
7. self adaptation caliber as claimed in claim 1 pipe robot it is characterised in that：Described expansion link in addition to roll adjustment also
It is used as power transmission shaft.
8. pressure transducer is installed between travel wheel as claimed in claim 1 and axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611151477.5A CN106439387B (en) | 2016-12-07 | 2016-12-07 | A kind of pipe robot of adaptive caliber |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611151477.5A CN106439387B (en) | 2016-12-07 | 2016-12-07 | A kind of pipe robot of adaptive caliber |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106439387A true CN106439387A (en) | 2017-02-22 |
| CN106439387B CN106439387B (en) | 2018-08-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201611151477.5A Active CN106439387B (en) | 2016-12-07 | 2016-12-07 | A kind of pipe robot of adaptive caliber |
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Cited By (29)
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|---|---|---|---|---|
| CN107367550A (en) * | 2017-08-31 | 2017-11-21 | 洛阳高昌机电科技有限公司 | Welding point flaw detection positioning double-rotation type mechanism for testing in a kind of pressure duct |
| CN107389550A (en) * | 2017-08-31 | 2017-11-24 | 洛阳高昌机电科技有限公司 | A kind of scalable fixed arm of construction pipeline welded joint flaw detection positioning |
| CN107462679A (en) * | 2017-08-23 | 2017-12-12 | 无锡华光锅炉股份有限公司 | Flaw detection roller vehicle device |
| CN108160633A (en) * | 2018-01-08 | 2018-06-15 | 河北工业大学 | Based on monolithic processor controlled soot pipeline automatic ash removing device |
| CN108253228A (en) * | 2018-03-22 | 2018-07-06 | 厦门理工学院 | A kind of robot for being used to solve duct cleaning |
| CN108489442A (en) * | 2018-03-20 | 2018-09-04 | 华北理工大学 | A kind of diameter-variable pipe rotation detection device |
| CN108533885A (en) * | 2018-04-27 | 2018-09-14 | 国网浙江省电力有限公司信息通信分公司 | A kind of wisdom inspection mobile terminal |
| CN108644532A (en) * | 2018-05-25 | 2018-10-12 | 武汉理工大学 | A kind of self-adaptive pipe dredging machine people |
| CN108918416A (en) * | 2018-07-19 | 2018-11-30 | 钟乘凤 | Image detection device is used in a kind of maintenance |
| CN109115215A (en) * | 2018-10-29 | 2019-01-01 | 唐山市中宇科技发展有限公司 | The all-round train system of inertial navigation positioning measurement |
| CN109373203A (en) * | 2018-11-22 | 2019-02-22 | 乐至海天水务有限公司 | A kind of intelligent water supply water pipe quality determining method |
| CN109506076A (en) * | 2018-11-21 | 2019-03-22 | 铜川铜人电子科技有限公司 | Underground pipe network harmful object crusing robot |
| CN109519650A (en) * | 2018-12-25 | 2019-03-26 | 南昌大学 | A kind of diameter changing mechanism of pipe robot |
| CN109595471A (en) * | 2018-10-20 | 2019-04-09 | 徐广祥 | A kind of detection device and its detection method of natural gas line |
| CN109738513A (en) * | 2019-01-30 | 2019-05-10 | 温州市长江标准件有限公司 | A kind of pipe fitting internal diameter eddy-current crack detector |
| CN109751478A (en) * | 2019-02-16 | 2019-05-14 | 李聪聪 | A kind of detecting robot of pipe |
| CN110274124A (en) * | 2018-03-16 | 2019-09-24 | 西南石油大学 | A kind of reducing power driven pipeline cleaning machine people |
| CN110297001A (en) * | 2019-08-14 | 2019-10-01 | 西南石油大学 | A kind of tapered pipeline crack detection equipment |
| CN110985812A (en) * | 2019-12-28 | 2020-04-10 | 陕西泰诺特检测技术有限公司 | Pipeline deformation detection device and method |
| CN111649242A (en) * | 2020-07-15 | 2020-09-11 | 西南石油大学 | All-round continuous multi-functional automatic checkout device of pipeline |
| CN111706743A (en) * | 2020-06-09 | 2020-09-25 | 东北石油大学 | Magnetic memory detection robot for buried pipeline |
| CN112066158A (en) * | 2019-12-10 | 2020-12-11 | 天目爱视（北京）科技有限公司 | Intelligent pipeline robot |
| CN113494654A (en) * | 2021-06-30 | 2021-10-12 | 南京中智腾飞航空科技研究院有限公司 | Nondestructive testing device suitable for high temperature pipeline is detected a flaw |
| CN113790333A (en) * | 2021-09-16 | 2021-12-14 | 广州市锐凌智能科技有限公司 | Wireless pipeline robot for underground pipe network |
| CN114101225A (en) * | 2021-09-14 | 2022-03-01 | 北京航空航天大学 | Flexible laser cleaning machine for multi-diameter pipeline |
| CN114251539A (en) * | 2021-12-27 | 2022-03-29 | 中技智能科技(盐城)有限公司 | Ultraviolet curing integrated vehicle adaptive to drainage pipelines with different pipe diameters |
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Cited By (38)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107462679A (en) * | 2017-08-23 | 2017-12-12 | 无锡华光锅炉股份有限公司 | Flaw detection roller vehicle device |
| CN107389550A (en) * | 2017-08-31 | 2017-11-24 | 洛阳高昌机电科技有限公司 | A kind of scalable fixed arm of construction pipeline welded joint flaw detection positioning |
| CN107367550A (en) * | 2017-08-31 | 2017-11-21 | 洛阳高昌机电科技有限公司 | Welding point flaw detection positioning double-rotation type mechanism for testing in a kind of pressure duct |
| CN108160633A (en) * | 2018-01-08 | 2018-06-15 | 河北工业大学 | Based on monolithic processor controlled soot pipeline automatic ash removing device |
| CN110274124A (en) * | 2018-03-16 | 2019-09-24 | 西南石油大学 | A kind of reducing power driven pipeline cleaning machine people |
| CN108489442A (en) * | 2018-03-20 | 2018-09-04 | 华北理工大学 | A kind of diameter-variable pipe rotation detection device |
| CN108489442B (en) * | 2018-03-20 | 2023-10-20 | 华北理工大学 | Variable diameter pipeline rotation detection device |
| CN108253228A (en) * | 2018-03-22 | 2018-07-06 | 厦门理工学院 | A kind of robot for being used to solve duct cleaning |
| CN108533885A (en) * | 2018-04-27 | 2018-09-14 | 国网浙江省电力有限公司信息通信分公司 | A kind of wisdom inspection mobile terminal |
| CN108644532A (en) * | 2018-05-25 | 2018-10-12 | 武汉理工大学 | A kind of self-adaptive pipe dredging machine people |
| CN108918416A (en) * | 2018-07-19 | 2018-11-30 | 钟乘凤 | Image detection device is used in a kind of maintenance |
| CN109595471A (en) * | 2018-10-20 | 2019-04-09 | 徐广祥 | A kind of detection device and its detection method of natural gas line |
| CN109595471B (en) * | 2018-10-20 | 2021-05-11 | 南京惟真智能管网科技研究院有限公司 | Detection device and detection method for natural gas pipeline |
| CN109115215B (en) * | 2018-10-29 | 2023-09-15 | 唐山市中宇科技发展有限公司 | Universal wheel system for inertial navigation positioning measurement |
| CN109115215A (en) * | 2018-10-29 | 2019-01-01 | 唐山市中宇科技发展有限公司 | The all-round train system of inertial navigation positioning measurement |
| CN109506076A (en) * | 2018-11-21 | 2019-03-22 | 铜川铜人电子科技有限公司 | Underground pipe network harmful object crusing robot |
| CN109373203B (en) * | 2018-11-22 | 2020-06-26 | 乐至海天水务有限公司 | Intelligent water supply pipe quality detection method |
| CN109373203A (en) * | 2018-11-22 | 2019-02-22 | 乐至海天水务有限公司 | A kind of intelligent water supply water pipe quality determining method |
| CN109519650A (en) * | 2018-12-25 | 2019-03-26 | 南昌大学 | A kind of diameter changing mechanism of pipe robot |
| CN109738513A (en) * | 2019-01-30 | 2019-05-10 | 温州市长江标准件有限公司 | A kind of pipe fitting internal diameter eddy-current crack detector |
| CN109751478A (en) * | 2019-02-16 | 2019-05-14 | 李聪聪 | A kind of detecting robot of pipe |
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| CN110297001A (en) * | 2019-08-14 | 2019-10-01 | 西南石油大学 | A kind of tapered pipeline crack detection equipment |
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