CN109353520A - A kind of petroleum conduit patrolling fixed-wing vertical take-off and landing drone - Google Patents
A kind of petroleum conduit patrolling fixed-wing vertical take-off and landing drone Download PDFInfo
- Publication number
- CN109353520A CN109353520A CN201811544042.6A CN201811544042A CN109353520A CN 109353520 A CN109353520 A CN 109353520A CN 201811544042 A CN201811544042 A CN 201811544042A CN 109353520 A CN109353520 A CN 109353520A
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- China
- Prior art keywords
- gear
- fixed
- patrolling
- vertical take
- moving member
- 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.)
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Links
- 239000003208 petroleum Substances 0.000 title claims abstract description 21
- 238000009434 installation Methods 0.000 claims abstract description 26
- 241000826860 Trapezium Species 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 230000010355 oscillation Effects 0.000 description 2
- 238000013475 authorization Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses a kind of petroleum conduit patrolling fixed-wing vertical take-off and landing drone, it is related to air vehicle technique field, the petroleum conduit patrolling fixed-wing vertical take-off and landing drone includes unmanned plane sheet, the side wall of installation shell offers mounting hole respectively, first gear is rotatably equipped in mounting hole, connecting rod group is connected in first gear, connecting rod group connecting rod made of several interconnections forms, the end of each connecting rod is connected with arc clamping piece, the arc clamping piece connected in different connecting rod groups can form an imaginary circles, the installation shell is internally provided with moving member, the side of moving member is provided with the first rack gear that connection is engaged with first gear, one end of moving member is connect with the movable end of linear movement driving mechanism；The present invention can easily mount and dismount camera shooting unit several different, and can also the position easily to different camera shooting units replace, meet a variety of requirements.
Description
Technical field
The present invention relates to air vehicle technique field, specifically a kind of petroleum conduit patrolling fixed-wing is vertical take-off and landing unmanned
Machine.
Background technique
Currently, being widely used in the work such as petroleum conduit patrolling with the continuous development of unmanned air vehicle technique, carrying out
During ground petroleum conduit patrolling, since different climatic environments is different for the requirement for shooting camera, in patrol worker
It usually requires to be shot using the camera of different camera lenses in work, since current unmanned plane is mostly camera and unmanned plane one
Body setting needs to carry out inspection work using multiple UAVs so if needing to be shot using different cameras,
Considerably increase the job costs of petroleum conduit patrolling.
A kind of landforms mapping unmanned plane is disclosed in the Chinese patent that Authorization Notice No. is CN206502041U, including
One drone body is equipped with a rotating seat in the bottom of drone body, is equipped with camera in the bottom of rotating seat and clamps seat, described
It includes opposite two grip blocks being slidably arranged on rotating seat that camera, which clamps seat, and the aid block is by being arranged on rotating seat
Sliding rail be slidably arranged on rotating seat, the grip block be semicircle.
Although giving a kind of technical solution that camera can be enable to separate with unmanned plane in above-mentioned patent document,
It is that above-mentioned technical proposal needs first to slide in opposition two grip blocks in operation, steps up until by camera, rotation is set in rotation
The fixed ring in seat outside can just install camera so that fixed ring moves down, not only inconvenient for operation, but also can only be simultaneously
One camera is installed, is greatly limited its scope of application.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of petroleum conduit patrolling fixed-wing is vertical take-off and landing unmanned
Machine needs first to slide in opposition two grip blocks, step up until by camera when solving operation in the prior art, and rotation is set in rotation
Fixed ring on the outside of swivel base can just install camera so that fixed ring moves down, not only inconvenient for operation, but also can only be same
When install a camera, the problem of greatly limiting its scope of application.
To achieve the above object, the invention provides the following technical scheme:
A kind of petroleum conduit patrolling fixed-wing vertical take-off and landing drone, including drone body, setting are in unmanned plane sheet
The mounting plate of body lower part and camera shooting unit, the lower part of the mounting plate are connected with installation shell, and the side wall for installing shell is opened respectively
Equipped with mounting hole, it is rotatably equipped with first gear in mounting hole, connecting rod group is connected in first gear, connecting rod group is by several
The composition of connecting rod made of a interconnection, the end of each connecting rod are connected with arc clamping piece, in different connecting rod groups
The arc clamping piece of connection can form an imaginary circles, and the installation shell is internally provided with moving member, the side of moving member
It is provided with the first rack gear that connection is engaged with first gear, one end of moving member and the movable end of linear movement driving mechanism connect
It connects.
As further scheme of the invention: the linear movement driving mechanism includes being mounted on the intracorporal electricity of mounting shell
Dynamic telescopic rod, the movable end of electric telescopic rod and the end of moving member connect.
As further scheme of the invention: the linear movement driving mechanism includes second be connected on moving member
Rack gear is installed and is connected with framework on shell, the second gear for engaging connection with the second rack gear, the second tooth are rotatably equipped in framework
The limited block being provided symmetrically between the two different teeth of wheel, limited block is in narrow towards one end of second gear and far from second
The wide right-angled trapezium shape in one end of gear, the side of the wide end of limited block are connected with motion bar, and motion bar passes through framework, limit
Position block is connect by elastic component with framework.
As further scheme of the invention: the elastic component is the compressed spring being set on motion bar.
As further scheme of the invention: the linear movement driving mechanism includes the axis for being connected to moving member end
It holds, the mounting hole of bearing is connect with threaded rod, is embedded with screw buckle on the wall body of the installation shell, screw buckle has internal screw thread
Hole, threaded rod are screwed on internal thread hole.
As further scheme of the invention: the end of the moving member is connected with mobile bar, and mobile bar passes through connection
Top fastening screw is installed on the body of installation shell, body.
As further scheme of the invention: the top of the camera shooting unit is connected with raised flange.
As further scheme of the invention: the installation shell is internally connected with fixed plate, opens up in fixed plate
There is pilot hole, moving member passes through pilot hole.
As the present invention further scheme: the end of the connecting rod is connected with mounting plate, mounting plate with it is corresponding
Arc clamping piece is connected by fixing screws.
As further scheme of the invention: the inner wall of the arc clamping piece is connected with friction made of flexible material
Pad.
As further scheme of the invention: the diameter phase of the interconnecting piece of the virtual diameter of a circle and camera shooting unit
Deng.
Compared with prior art, the beneficial effects of the present invention are:
1, by controlling the movement of the movable end of linear moving drive mechanism, the movement of moving member can be driven, makes a pair of group
The interconnecting piece of camera shooting unit is clamped at the arc clamping piece of imaginary circles, to realize the Fast Installation to camera shooting unit；
2, connecting rod made of being connected with each other as connecting rod group by several is formed, and the end of each connecting rod is connected with
Arc clamping piece, therefore the corresponding arc clamping piece of different location can carry out clamping limit to different camera shooting units, from
And it can be realized while a variety of different camera shooting units being installed；
3, control the reverse movement of electric telescopic rod movable end, then connecting rod around first gear towards outer side oscillation, this
When arc clamping piece installation no longer is clamped to the junction of camera shooting unit, therefore can easily mount and dismount several differences
Camera shooting unit, and can also the position easily to different camera shooting units replace, meet a variety of requirements.
Detailed description of the invention
Fig. 1 is the schematic front view of first embodiment；
Fig. 2 is the schematic cross-sectional view in Fig. 1 along line A-A；
Fig. 3 is the structural schematic diagram of connecting rod group opening state in Fig. 2；
Fig. 4 is the schematic diagram of second embodiment；
The enlarged diagram that Fig. 5 is in Fig. 4 I；
Fig. 6 is the schematic diagram of 3rd embodiment；
Fig. 7 is the schematic diagram of fourth embodiment.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Embodiment 1:
As shown in Figure 1-3, a kind of petroleum conduit patrolling fixed-wing vertical take-off and landing drone, including drone body 1, set
The mounting plate 2 and camera shooting unit 3 in 1 lower part of drone body are set, the lower part of the mounting plate 2 is connected with installation shell 5, installation
The side wall of shell 5 offers mounting hole 6 respectively, and first gear 7 is rotatably equipped in mounting hole 6, is connected in first gear 7
Extension bar group, connecting rod group connecting rod 8 made of several interconnections form, and the end of each connecting rod 8 is connected with arc
Clamping piece 11, the arc clamping piece 11 connected in different connecting rod groups can form an imaginary circles, virtual diameter of a circle with take the photograph
The diameter of the interconnecting piece of camera group 3 is equal, and the installation shell 5 is internally provided with moving member 13, and the side of moving member 13 is set
It is equipped with the first rack gear 14 that connection is engaged with first gear 7, one end of moving member 13 and the movable end of linear movement driving mechanism
Connection；The linear movement driving mechanism includes the electric telescopic rod 15 being mounted in installation shell 5, the work of electric telescopic rod 15
Moved end is connect with the end of moving member 13.
By the external switch 16 of control, i.e., the movement of controllable 15 movable end of electric telescopic rod drives moving member 13
Movement drive connecting rod 8 around the rotation of first gear 7, as shown in Fig. 2, connecting rod 8 so that first gear 7 be made to be rotated
It is rotated towards inside around first gear 7, so that the arc clamping piece 11 of a pair of of composition imaginary circles be made to clamp camera shooting unit 3
Interconnecting piece, to realize the Fast Installation to camera shooting unit 3；It is connected made of being connected with each other as connecting rod group as several
Bar 8 forms, and the end of each connecting rod 8 is connected with arc clamping piece 11, therefore the corresponding arc clamping piece 11 of different location is
Clamping limit can be carried out to different camera shooting units 3, so as to realize while installing a variety of different camera shooting units 3；Control
The reverse movement of 15 movable end of electric telescopic rod processed, then connecting rod 8 surrounds first gear 7 towards outer side oscillation, then such as Fig. 3 institute
Show, arc clamping piece 11 no longer clamps installation to the junction of camera shooting unit 3 at this time, if therefore can easily mount and dismount
A dry different camera shooting unit 3, and can also the position easily to different camera shooting units 3 replace, meet a variety of
Requirement.
Optionally, the top of the camera shooting unit 3 is connected with raised flange 4, and raised flange 4 can be made to be supported on arc folder
The top for holding piece 11 avoids there is a situation where imaging unit 3 and falls off the outside of arc lower clamping piece 11, improves connective stability.
Optionally, the installation shell 5 is internally connected with fixed plate 17, offers pilot hole in fixed plate 17, mobile
Part 13 passes through pilot hole, moves moving member 13 along pilot hole when moving, improves the moving stability of moving member 13.
Optionally, the end of the connecting rod 8 is connected with mounting plate 9, and mounting plate 9 passes through with corresponding arc clamping piece 11
Fixing screws 10 connect, and are detachable arc-shaped clamping piece 11 by unclamping fixing screws 10, therefore can according to need to select
The arc clamping piece 11 in differently curved face, it is applied widely.
Preferably, the inner wall of the arc clamping piece 11 is connected with friction pad 12 made of flexible material, makes friction pad 12
Extruding limit is carried out to the interconnecting piece of camera shooting unit 3, improves the stability of connection.
Embodiment 2:
As illustrated in figures 4-5, difference from example 1 is that: the linear movement driving mechanism include be connected to shifting
The second rack gear 18 on moving part 13 is installed and is connected with framework 20 on shell 5, is rotatably equipped in framework 20 and nibbles with the second rack gear 18
Close the second gear 19 of connection, the limited block 21 being provided symmetrically between the two different teeth of second gear 19, limited block 21
The wide right-angled trapezium shape in one end of separate second gear 19, the width of limited block 21 in narrow towards one end of second gear 19
The side at end is connected with motion bar 22, and motion bar 22 passes through framework 20, and limited block 21 is connect by elastic component with framework 20, preferably
, the elastic component is the compressed spring 23 being set on motion bar 22, and cost is relatively low for compressed spring 23, and is had enough
Stroke and reset capability, meet requirement.
As shown in figure 5, when second gear 19 rotationally clockwise when, the tooth of second gear 19 hits the limit for being located at downside
Position block 21, hits the inclined-plane of the limited block 21 positioned at downside, then with a component mobile towards outside, to make
Limited block 21 positioned at downside is jacked up, then the limited block 21 positioned at downside cannot hinder the clockwise of second gear 19
Rotation, but when second gear 19 rotates in an anti-clockwise direction, hit, will not make by tooth in the plane for the limited block 21 for being located at downside
Limited block 21 is jacked up, therefore the limited block for being located at downside can hinder the anticlockwise rotation of second gear 19；Equally
Principle, the limited block 21 positioned at upside can hinder the clockwise rotation of second gear 19, but cannot hinder second
The anticlockwise rotation of gear 19, therefore cooperate the effect of two limited blocks 21, moving member 13 can be limited, but
It is one motion bar 22 of outer drawing, then a corresponding limited block 21 can be made to detach between two teeth, then can pass through manpower
It is mobile towards upside or downside to make moving member 13, to realize the driving to moving member 13 and position-limiting action.
Embodiment 3:
As shown in fig. 6, difference from example 1 is that: the linear movement driving mechanism includes being connected to movement
The mounting hole of the bearing 24 of 13 end of part, bearing 24 is connect with threaded rod 25, is embedded with screw thread on the wall body of the installation shell 5
Button 26, screw buckle 26 have internal thread hole, and threaded rod 25 is screwed on internal thread hole；
Threaded rod is then made by the mating reaction that is screwed on of threaded rod 25 and screw buckle 26 by manpower rotating threaded rod 25
25 end is moved, to realize the driving to moving member 13 and position-limiting action.
Embodiment 4:
As shown in fig. 7, difference from example 1 is that: the end of the moving member 13 is connected with mobile bar 27, moves
Lever 27 passes through the body 28 for being connected to installation shell 5, is equipped with Top fastening screw 29 on body 28；By unclamping and make-up is held out against
The driving to moving member 13 and position-limiting action can be realized in screw 29.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection " are answered
It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The connection in portion.For the ordinary skill in the art, the tool of above-mentioned term in the present invention can be understood with concrete condition
Body meaning.
Claims (10)
1. a kind of petroleum conduit patrolling fixed-wing vertical take-off and landing drone, including drone body (1), setting are in unmanned plane sheet
The mounting plate (2) of body (1) lower part and camera shooting unit (3), characterized in that the lower part of the mounting plate (2) is connected with installation shell
(5), the side wall for installing shell (5) offers mounting hole (6) respectively, is rotatably equipped with first gear (7) in mounting hole (6), the
Connecting rod group is connected on one gear (7), connecting rod group connecting rod (8) made of several interconnections forms, Mei Gelian
The end of extension bar (8) is connected with arc clamping piece (11), and the arc clamping piece (11) connected in different connecting rod groups can be formed
One imaginary circles, installation shell (5) are internally provided with moving member (13), and the side of moving member (13) is provided with and first
The first rack gear (14) of gear (7) engagement connection, one end of moving member (13) is connect with the movable end of linear movement driving mechanism.
2. petroleum conduit patrolling according to claim 1 fixed-wing vertical take-off and landing drone, characterized in that described linear
Moving drive mechanism include be mounted on installation shell (5) in electric telescopic rod (15), the movable end of electric telescopic rod (15) with
The end of moving member (13) connects.
3. petroleum conduit patrolling according to claim 1 fixed-wing vertical take-off and landing drone, characterized in that described linear
Moving drive mechanism includes the second rack gear (18) being connected on moving member (13), is connected with framework (20) in installation shell (5),
Be rotatably equipped with the second gear (19) for engage and connecting with the second rack gear (18) in framework (20), second gear (19) it is different
The limited block (21) being provided symmetrically between two teeth, limited block (21) be in narrow towards one end of second gear (19) and far from the
The wide right-angled trapezium shape in one end of two gears (19), the side of the wide end of limited block (21) are connected with motion bar (22), living
Lever (22) passes through framework (20), and limited block (21) is connect by elastic component with framework (20).
4. petroleum conduit patrolling according to claim 1 fixed-wing vertical take-off and landing drone, characterized in that described linear
Moving drive mechanism includes the bearing (24) for being connected to moving member (13) end, and the mounting hole of bearing (24) and threaded rod (25) are even
It connects, is embedded with screw buckle (26) on the wall body of installation shell (5), screw buckle (26) has internal thread hole, threaded rod (25)
It is screwed on internal thread hole.
5. petroleum conduit patrolling according to claim 1 fixed-wing vertical take-off and landing drone, characterized in that the movement
The end of part (13) is connected with mobile bar (27), and mobile bar (27) passes through the body (28) for being connected to installation shell (5), body
(28) Top fastening screw (29) are installed on.
6. -5 any petroleum conduit patrolling fixed-wing vertical take-off and landing drone according to claim 1, characterized in that institute
The top for stating camera shooting unit (3) is connected with raised flange (4).
7. petroleum conduit patrolling according to claim 1 fixed-wing vertical take-off and landing drone, characterized in that the installation
Shell (5) is internally connected with fixed plate (17), and pilot hole is offered in fixed plate (17), and moving member (13) passes through pilot hole.
8. petroleum conduit patrolling according to claim 1 fixed-wing vertical take-off and landing drone, characterized in that the connection
The end of bar (8) is connected with mounting plate (9), and mounting plate (9) is connected with corresponding arc clamping piece (11) by fixing screws (10)
It connects.
9. -5,7,8 any petroleum conduit patrolling fixed-wing vertical take-off and landing drone according to claim 1, feature
It is that the inner wall of the arc clamping piece (11) is connected with friction pad made of flexible material (12).
10. -5,7,8 any petroleum conduit patrolling fixed-wing vertical take-off and landing drone according to claim 1, feature
It is that the virtual diameter of a circle is equal with the camera shooting diameter of interconnecting piece of unit (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811544042.6A CN109353520B (en) | 2018-12-17 | 2018-12-17 | Petroleum pipeline patrols and examines and uses fixed wing VTOL unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811544042.6A CN109353520B (en) | 2018-12-17 | 2018-12-17 | Petroleum pipeline patrols and examines and uses fixed wing VTOL unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109353520A true CN109353520A (en) | 2019-02-19 |
| CN109353520B CN109353520B (en) | 2020-11-06 |
Family
ID=65328986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811544042.6A Active CN109353520B (en) | 2018-12-17 | 2018-12-17 | Petroleum pipeline patrols and examines and uses fixed wing VTOL unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109353520B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113928579A (en) * | 2021-10-08 | 2022-01-14 | 中科信同科技集团有限公司 | Unmanned aerial vehicle flaw detection device for pipeline |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060026198A (en) * | 2004-09-20 | 2006-03-23 | 한국항공우주산업 주식회사 | Bracket line up tool |
| CN205381403U (en) * | 2016-01-19 | 2016-07-13 | 北京象限空间科技有限公司 | Device is put in to centre gripping |
| CN206502041U (en) * | 2017-02-24 | 2017-09-19 | 山东省地质测绘院 | A kind of landforms mapping unmanned plane |
| CN206675846U (en) * | 2017-04-07 | 2017-11-28 | 宁夏冰核科技有限公司 | Unmanned plane fire extinguishing system |
| CN207759057U (en) * | 2017-12-20 | 2018-08-24 | 江苏优埃唯智能科技有限公司 | A kind of Lens mounting device of unmanned plane |
-
2018
- 2018-12-17 CN CN201811544042.6A patent/CN109353520B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060026198A (en) * | 2004-09-20 | 2006-03-23 | 한국항공우주산업 주식회사 | Bracket line up tool |
| CN205381403U (en) * | 2016-01-19 | 2016-07-13 | 北京象限空间科技有限公司 | Device is put in to centre gripping |
| CN206502041U (en) * | 2017-02-24 | 2017-09-19 | 山东省地质测绘院 | A kind of landforms mapping unmanned plane |
| CN206675846U (en) * | 2017-04-07 | 2017-11-28 | 宁夏冰核科技有限公司 | Unmanned plane fire extinguishing system |
| CN207759057U (en) * | 2017-12-20 | 2018-08-24 | 江苏优埃唯智能科技有限公司 | A kind of Lens mounting device of unmanned plane |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113928579A (en) * | 2021-10-08 | 2022-01-14 | 中科信同科技集团有限公司 | Unmanned aerial vehicle flaw detection device for pipeline |
| CN113928579B (en) * | 2021-10-08 | 2024-05-28 | 中科信同科技集团有限公司 | Unmanned aerial vehicle flaw detection device for pipeline |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109353520B (en) | 2020-11-06 |
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