CN112557518A - Annular probe centering mechanism for detecting inner wall of pipeline and detection system - Google Patents
Annular probe centering mechanism for detecting inner wall of pipeline and detection system Download PDFInfo
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- CN112557518A CN112557518A CN202011423204.8A CN202011423204A CN112557518A CN 112557518 A CN112557518 A CN 112557518A CN 202011423204 A CN202011423204 A CN 202011423204A CN 112557518 A CN112557518 A CN 112557518A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/10—Number of transducers
- G01N2291/106—Number of transducers one or more transducer arrays
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Abstract
The invention relates to an annular probe centering mechanism for detecting the inner wall of a pipeline, which comprises a centering shaft, a switching sleeve, a push-pull rod and an elastic ball, wherein the centering shaft is arranged on the outer wall of the pipeline; the fixed shaft is provided with an axial through hole, the fixed shaft penetrates through the axial through hole and is arranged on the push-pull rod, the switching sleeve is sleeved on the push-pull rod, one end of the switching sleeve is connected with the push-pull rod, the other end of the switching sleeve is used for being connected with the annular probe, a spherical groove is further formed in the side wall of the fixed shaft, the elastic ball is clamped in the spherical groove and can roll in the spherical groove, the fixed shaft is abutted against the inner wall of the pipeline to be tested when coaxially penetrating through the pipeline to be tested, and the elastic ball can roll on the inner wall of the pipeline to be tested. The invention can realize the centering of the annular probe in the inner wall of the pipeline to be detected, and has high detection precision.
Description
Technical Field
The invention relates to the technical field of phased array pipeline detection, in particular to a centering mechanism of an annular probe for detecting an inner wall of a pipeline and a detection system.
Background
The basic idea of ultrasonic phased array technology comes from radar electromagnetic wave phased array technology. The phased array radar is composed of many radiating elements arranged in an array, and by controlling the amplitude and phase of each element in the array antenna, the radiation direction of electromagnetic waves is adjusted, and radar beams which are flexibly and quickly focused and scanned are synthesized in a certain space range. The ultrasonic phased array transducer is an array formed by a plurality of independent piezoelectric wafers, and each wafer unit is controlled and excited by an electronic system according to a certain rule and a certain time sequence to adjust and control the position of a focus and the focusing direction.
When the phased array technology is adopted to detect the inner wall of the pipeline, the piezoelectric wafer array is generally arranged into a ring shape to form a ring probe, and the ring probe penetrates through the pipeline to be detected, so that the detection of the inner wall of the pipeline to be detected can be completed.
However, in the process of detecting the inner wall of the pipeline by the annular probe, the annular probing trench and the pipeline to be detected are required to be coaxial and concentric, so that the accurate implementation of a focusing rule in flaw detection software is ensured. Therefore, a centering mechanism is needed to ensure that the probe is always positioned in the middle of the pipeline as much as possible in the process of inserting and moving in the pipeline to be detected.
Disclosure of Invention
In view of this, it is necessary to provide a centering mechanism for an annular probe for detecting an inner wall of a pipeline and a detection system thereof, so as to solve the problem that the detection accuracy is affected because the coaxial concentricity cannot be ensured in the process of detecting the inner wall of the pipeline by the annular probe.
The invention provides an annular probe centering mechanism for detecting the inner wall of a pipeline, which comprises a centering shaft, a switching sleeve, a push-pull rod and an elastic ball, wherein the centering shaft is arranged on the outer wall of the pipeline;
the fixed shaft is provided with an axial through hole, the fixed shaft penetrates through the axial through hole and is arranged on the push-pull rod, the switching sleeve is sleeved on the push-pull rod, one end of the switching sleeve is connected with the push-pull rod, the other end of the switching sleeve is used for being connected with the annular probe, a spherical groove is further formed in the side wall of the fixed shaft, the elastic ball is clamped in the spherical groove and can roll in the spherical groove, the fixed shaft is abutted against the inner wall of the pipeline to be tested when coaxially penetrating through the pipeline to be tested, and the elastic ball can roll on the inner wall of the pipeline to be tested.
The support sleeve comprises two half support bodies, wherein the two half support bodies are provided with support grooves, the two half support bodies are detachably connected, the two half support grooves are spliced to form support holes for supporting the push-pull rod, and the push-pull rod penetrates through the support holes; joints are installed at one ends of the two half supporting bodies and connected with the pipeline to be tested.
Furthermore, a pneumatic joint is arranged on one of the supporting bodies.
The device is characterized by further comprising a water blocking sleeve, wherein one end of the water blocking sleeve is inserted into one end of the pipeline to be tested, a mounting hole coaxial with the pipeline to be tested is formed in the water blocking sleeve, and the push-pull rod penetrates through the mounting hole.
The elastic ring is connected with two ends of the annular probe and is connected with the adapter sleeve through one of the elastic rings, a rolling groove is formed in the elastic ring, the elastic ball is clamped in the rolling groove, and the elastic ball can roll in the rolling groove; when the elastic ring is coaxially arranged in the pipeline to be tested in a penetrating manner, the elastic ball is abutted to the inner wall of the pipeline to be tested, and the elastic ball can roll on the inner wall of the pipeline to be tested.
The invention also provides a detection system for detecting the inner wall of the pipeline, which comprises an annular probe centering mechanism for detecting the inner wall of the pipeline, an annular probe and a pipeline to be detected;
the annular probe comprises a cylindrical probe main body and a plurality of wafers, the wafers are arranged around the probe main body and fixed on the outer wall of the probe main body, and the probe main body is sleeved on the push-pull rod and connected with the adapter sleeve; the push-pull rod penetrates through the pipeline to be detected, and when the push-pull rod moves along the pipeline to be detected, the fixed center shaft, the adapter sleeve and the annular probe are driven to move in the pipeline to be detected so as to complete detection.
The device further comprises an axial displacement detection mechanism, wherein the axial displacement detection mechanism comprises a base, a slide rail, a slide block, an adapter plate, an encoder, an encoding shaft and an encoding wheel;
the base is installed in support the cover and keep away from the one end of the pipeline that awaits measuring, the slide rail along the axial vertical direction of the pipeline that awaits measuring install in on the base, slider slidable install in on the slide rail, the keysets install in on the slider, the encoder install in on the keysets, the coding wheel pass through the coding axle with the encoder is connected.
Furthermore, the coding wheel is coaxially and fixedly connected with one end of the coding shaft, a bearing is installed on the coding shaft, the other end of the coding shaft is connected with the encoder through a coupler, and the encoder is connected with a socket.
Further, axial displacement detection mechanism still includes the shell, the shell includes casing and cap, socket, encoder, shaft coupling, code axle and bearing all set up in the casing, the cap lid is located on the casing, the socket end of socket stretches out outside the casing, the one end of code axle stretches out outside the casing to with be located outside the casing the code wheel is connected.
Has the advantages that: the centering shaft is arranged for realizing centering of the annular probe during penetrating movement in the pipeline to be detected. A push-pull rod penetrates through the centering shaft, one end of the centering shaft is connected with the annular probe through the adapter sleeve, and a user pushes or pulls the push-pull rod to realize the penetrating movement of the annular probe in the pipeline to be detected. The elastic ball is arranged in the spherical groove formed in the centering shaft, and when the centering shaft moves in the pipeline to be tested along with the push-pull rod, the elastic ball is abutted against the pipeline to be tested, so that the centering shaft is fixed in the pipeline to be tested, the centering shaft is kept coaxial with the pipeline to be tested, and the annular probe is further ensured to be coaxial with the pipeline to be tested.
Drawings
FIG. 1 is a schematic overall structural view of a first embodiment of a ring probe centering mechanism for detecting the inner wall of a pipeline provided by the invention;
FIG. 2 is a schematic structural view of a supporting sleeve of a first embodiment of a ring probe centering mechanism for detecting the inner wall of a pipeline provided by the invention;
FIG. 3 is a schematic view of an overall structure of a first embodiment of a detection system for detecting an inner wall of a pipeline according to the present invention;
FIG. 4 is a schematic structural diagram of a ring probe of a first embodiment of a detection system for detecting an inner wall of a pipeline according to the present invention;
FIG. 5 is a schematic structural diagram of an axial displacement mechanism of a first embodiment of a detection system for detecting an inner wall of a pipeline according to the present invention;
FIG. 6 is a cross-sectional view of an axial displacement mechanism of a first embodiment of a detection system for detecting an inner wall of a pipe, according to the present invention;
FIG. 7 is a schematic view of the overall structure of the axial displacement mechanism and the support sleeve of the first embodiment of the detection system for detecting the inner wall of the pipeline according to the present invention;
reference numerals:
1. a centering shaft; 11. a spherical groove; 2. a transfer sleeve; 3. a push-pull rod; 4. an elastic ball; 5. a support sleeve; 51. a first support; 511. a first support groove; 512. a first joint; 52. a second support; 521. a second support groove; 523. a pneumatic joint; 6. plugging the water jacket; 7. an elastic ring; 10. an annular probe; 101. a wafer; 20. a pipeline to be tested; 30. an axial displacement detection mechanism; 301. a base; 302. a slide rail; 303. a slider; 304. an adapter plate; 305. an encoder; 306. a code shaft; 306a, a bearing; 306b, a coupler; 307. a coding wheel; 308. a socket; 309a, a housing; 309b, a housing cover.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Example 1
As shown in fig. 1, embodiment 1 of the present invention provides an annular probe centering mechanism for detecting an inner wall of a pipeline, including a centering shaft 1, an adapter sleeve 2, a push-pull rod 3, and an elastic ball 4;
the device is characterized in that an axial through hole is formed in the centering shaft 1 and penetrates through the axial through hole to be arranged on the push-pull rod 3, the switching sleeve 2 is sleeved on the push-pull rod 3, one end of the switching sleeve 2 is connected with the push-pull rod 3, the other end of the switching sleeve 2 is used for being connected with the annular probe 10, a spherical groove 11 is further formed in the side wall of the centering shaft 1, the elastic ball 4 is clamped in the spherical groove 11 and can roll in the spherical groove 11, the elastic ball 4 abuts against the inner wall of the pipeline 20 to be tested when the centering shaft 1 coaxially penetrates through the pipeline 20 to be tested, and the elastic ball 4 can roll on the inner wall of the pipeline 20 to be tested.
The invention uses the centering shaft 1, and the elastic ball 4 with elasticity self-resetting is arranged in the centering shaft 1, so that the centering of the annular probe 10 in the pipeline 20 to be tested is ensured. Specifically, a push-pull rod 3 penetrates through the centering shaft 1, one end of the centering shaft 1 is connected with the annular probe 10 through the adapter sleeve 2, and a user pushes or pulls the push-pull rod 3 to realize the penetrating movement of the annular probe 10 in the pipeline 20 to be detected. An elastic ball 4 is arranged in a spherical groove 11 formed in the centering shaft 1, and when the centering shaft 1 moves in the pipeline 20 to be tested along with the push-pull rod 3, the elastic ball 4 is abutted against the pipeline 20 to be tested, so that the centering shaft 1 is fixed in the pipeline 20 to be tested, the centering shaft 1 and the pipeline 20 to be tested are kept coaxial, and the annular probe 10 and the pipeline 20 to be tested are further guaranteed to be coaxial. When the centering shaft 1 moves in the pipe 20 to be tested along with the push-pull rod 3, the elastic ball 4 rolls along the inner wall of the pipe 20 to be tested, so that the annular probe 10 can smoothly pass through the pipe 20 to be tested during detection. The elastic ball 4 in this embodiment is an elastic steel ball. Preferably, the elastic force of the elastic ball 4 can be calculated according to the weight parameters of the annular probe 10, the push-pull rod 3 and the adapter sleeve 2, so that the elastic force of the elastic ball 4 can be better ensured to just support the annular probe 10 and the push-pull rod 3. When the device is used, the device is directly spliced in sequence, then the device penetrates through the inner wall of the pipe, the probe is pushed from one end of the pipe to the other end of the pipe through the inner probe rod, detection is completed, and a detection image is formed.
The invention can realize the centering of the annular probe 10 in the inner wall of the pipeline 20 to be detected, has high detection precision, simple structure and low cost, and is easy to popularize and implement.
Preferably, as shown in fig. 1, the push-pull rod further comprises a support sleeve 5, the support sleeve 5 comprises two half support bodies, each of the two half support bodies is provided with a support groove, the two half support bodies are detachably connected, the two half support grooves are spliced to form a support hole for supporting the push-pull rod 3, and the push-pull rod 3 penetrates through the support hole; joints are installed at one ends of the two half supporting bodies and connected with the pipeline 20 to be tested.
Specifically, as shown in fig. 2, the two support halves are a first support 51 and a second support 52, respectively, the first support 51 is provided with a first support slot 511 and a first joint 512, the second support 52 is provided with a second support slot 521 and a second joint, the second support 52 is further provided with a mounting hole for mounting a pneumatic joint 523, and the pneumatic joint 523 is not shown in fig. 2. The two half supporting grooves are spliced to form supporting holes for supporting the push-pull rod 3, the supporting holes support and support the push-pull rod 3 on one hand, and the supporting holes are coaxially arranged with the pipeline 20 to be detected on the other hand, so that the centering of the annular probe 10 can be further ensured.
Preferably, as shown in fig. 7, a pneumatic connector 523 is mounted on one of the supporting bodies.
The pneumatic connector 523 is used for accessing a coupling agent, such as water, required by the loop probe 10 during detection.
Preferably, as shown in fig. 1, the device further includes a water blocking sleeve 6, one end of the water blocking sleeve 6 is inserted into one end of the to-be-measured pipeline 20, a mounting hole coaxial with the to-be-measured pipeline 20 is formed in the water blocking sleeve 6, and the push-pull rod 3 is inserted into the mounting hole.
The water blocking sleeve 6 is used for blocking the coupling agent, and on the other hand, the water blocking sleeve 6 and the pipeline 20 to be detected are coaxially arranged, so that the centering of the annular probe 10 can be further ensured.
Preferably, as shown in fig. 1, the probe further comprises an elastic ring 7, two ends of the annular probe 10 are both connected with one elastic ring 7, and are connected with the adapter sleeve 2 through one elastic ring 7, a rolling groove is formed in the elastic ring 7, the elastic ball is also clamped in the rolling groove, and the elastic ball can roll in the rolling groove; when the elastic ring 7 coaxially penetrates through the pipeline 20 to be tested, the elastic ball is abutted to the inner wall of the pipeline 20 to be tested, and the elastic ball can roll along the inner wall of the pipeline 20 to be tested.
The structure of the annular probe 10 is improved, the elastic rings 7 are arranged at two ends of the annular probe 10, and the principle and the mode for realizing the centering of the elastic rings 7 and the centering shaft 1 are the same, so that redundant description is not repeated.
Example 2
As shown in fig. 3, embodiment 1 of the present invention provides a detection system for detecting an inner wall of a pipeline, including the annular probe centering mechanism for detecting an inner wall of a pipeline provided in embodiment 1, further including an annular probe 10 and a pipeline 20 to be detected;
as shown in fig. 4, the ring probe 10 includes a cylindrical probe body and a plurality of wafers 101, the plurality of wafers 101 are disposed around the probe body and fixed on an outer wall of the probe body, and the probe body is sleeved on the push-pull rod 3 and connected to the adapter sleeve 2; the push-pull rod 3 penetrates through the pipeline 20 to be detected, and when the push-pull rod 3 moves along the pipeline 20 to be detected, the centering shaft 1, the adapter sleeve 2 and the annular probe 10 are driven to move in the pipeline 20 to be detected, so that detection is completed.
It should be understood that the detection system for detecting an inner wall of a pipeline provided by this embodiment includes the annular probe centering mechanism for detecting an inner wall of a pipeline, so that the technical effect of the annular probe centering mechanism for detecting an inner wall of a pipeline is achieved, and the detection system for detecting an inner wall of a pipeline is also achieved, and is not described herein again.
Preferably, as shown in fig. 5, 6, and 7, the axial displacement detecting device 30 further includes an axial displacement detecting mechanism 30, where the axial displacement detecting mechanism 30 includes a base 301, a slide rail 302, a slide block 303, an adapter plate 304, an encoder 305, an encoding shaft 306, and an encoding wheel 307;
the base 301 is installed in the one end that the support cover 5 keeps away from the pipeline 20 that awaits measuring, slide rail 302 along the axial vertical direction of the pipeline 20 that awaits measuring install in on the base 301, slider 303 slidable install in on the slide rail 302, adapter plate 304 install in on the slider 303, encoder 305 install in on the adapter plate 304, the coding wheel 307 passes through the coding axle 306 with encoder 305 is connected.
The axial displacement detection mechanism 30 is configured to detect an axial displacement of the push-pull rod 3, and when the push-pull rod 3 is axially displaced, the encoder 305 drives the encoder wheel 307 to rotate, and detects a rotational position of the encoder wheel 307, so that the axial displacement of the push-pull rod 3 can be known. Meanwhile, the encoding wheel 307 is mounted on the sliding block 303 through the adapter plate 304 and can move along the sliding rail 302 along with the sliding block 303, so as to push the push-pull rod 3 along the radial direction of the push-pull rod 3 or be pushed by the push-pull rod 3; the sliding block 303 adjusts the gas position to adjust the acting force between the encoding wheel 307 and the push-pull rod 3, so as to ensure a constant acting force between the encoding wheel 307 and the push-pull rod 3, and the push-pull rod 3 is made of a flexible elastic material and is suitable for a pipeline 20 to be measured with a certain curvature, so that the arrangement can prevent the push-pull rod 3 from floating up and down.
Preferably, as shown in fig. 6, the encoding wheel 307 is coaxially and fixedly connected with one end of the encoding shaft 306, a bearing 306a is installed on the encoding shaft 306, the other end of the encoding shaft 306 is connected with the encoder 305 through a coupling 306b, and the encoder 305 is connected with a socket 308.
The socket 308 is used to supply power to the encoder 305.
Preferably, as shown in fig. 6, the axial displacement detecting mechanism 30 further includes a housing, the housing includes a housing 309a and a housing cover 309b, the socket 308, the encoder 305, the coupler 306b, the encoding shaft 306 and the bearing 306a are all disposed in the housing 309a, the housing cover 309b is disposed on the housing 309a, a socket end of the socket 308 extends out of the housing 309a, and one end of the encoding shaft 306 extends out of the housing 309a and is connected to the encoding wheel 307 located outside the housing 309 a.
The housing completes the hermetic enclosure of the axial displacement sensing mechanism 30.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (9)
1. A ring probe centering mechanism for detecting the inner wall of a pipeline is characterized by comprising a centering shaft, a switching sleeve, a push-pull rod and an elastic ball;
the fixed shaft is provided with an axial through hole, the fixed shaft penetrates through the axial through hole and is arranged on the push-pull rod, the switching sleeve is sleeved on the push-pull rod, one end of the switching sleeve is connected with the push-pull rod, the other end of the switching sleeve is used for being connected with the annular probe, a spherical groove is further formed in the side wall of the fixed shaft, the elastic ball is clamped in the spherical groove and can roll in the spherical groove, the fixed shaft is abutted against the inner wall of the pipeline to be tested when coaxially penetrating through the pipeline to be tested, and the elastic ball can roll on the inner wall of the pipeline to be tested.
2. The annular probe centering mechanism for detecting the inner wall of the pipeline as claimed in claim 1, further comprising a support sleeve, wherein the support sleeve comprises two support bodies, the two support bodies are both provided with support grooves, the two support bodies are detachably connected, the two support grooves are spliced to form support holes for supporting the push-pull rod, and the push-pull rod passes through the support holes; joints are installed at one ends of the two half supporting bodies and connected with the pipeline to be tested.
3. An annular probe centering mechanism for detecting the inner wall of a pipeline according to claim 2, wherein a pneumatic joint is mounted on one of the supporting bodies.
4. The annular probe centering mechanism for detecting the inner wall of the pipeline as claimed in claim 1, further comprising a water blocking sleeve, wherein one end of the water blocking sleeve is inserted into one end of the pipeline to be detected, the water blocking sleeve is provided with a mounting hole coaxial with the pipeline to be detected, and the push-pull rod is arranged in the mounting hole in a penetrating manner.
5. The annular probe centering mechanism for detecting the inner wall of the pipeline as claimed in claim 1, further comprising an elastic ring, wherein both ends of the annular probe are connected with the elastic ring and are connected with the adapter sleeve through one of the elastic rings, the elastic ring is provided with a rolling groove, the elastic ball is also clamped in the rolling groove, and the elastic ball can roll in the rolling groove; when the elastic ring is coaxially arranged in the pipeline to be tested in a penetrating manner, the elastic ball is abutted to the inner wall of the pipeline to be tested, and the elastic ball can roll on the inner wall of the pipeline to be tested.
6. A detection system for detecting the inner wall of a pipeline, which is characterized by comprising the annular probe centering mechanism for detecting the inner wall of the pipeline as claimed in any one of claims 1 to 5, and further comprising an annular probe and a pipeline to be detected;
the annular probe comprises a cylindrical probe main body and a plurality of wafers, the wafers are arranged around the probe main body and fixed on the outer wall of the probe main body, and the probe main body is sleeved on the push-pull rod and connected with the adapter sleeve; the push-pull rod penetrates through the pipeline to be detected, and when the push-pull rod moves along the pipeline to be detected, the fixed center shaft, the adapter sleeve and the annular probe are driven to move in the pipeline to be detected so as to complete detection.
7. The system for detecting the inner wall of the pipeline according to claim 6, further comprising an axial displacement detection mechanism, wherein the axial displacement detection mechanism comprises a base, a slide rail, a slide block, an adapter plate, an encoder, an encoding shaft and an encoding wheel;
the base is installed in support the cover and keep away from the one end of the pipeline that awaits measuring, the slide rail along the axial vertical direction of the pipeline that awaits measuring install in on the base, slider slidable install in on the slide rail, the keysets install in on the slider, the encoder install in on the keysets, the coding wheel pass through the coding axle with the encoder is connected.
8. The system for detecting the inner wall of the pipeline according to claim 7, wherein the encoding wheel is coaxially and fixedly connected with one end of the encoding shaft, a bearing is installed on the encoding shaft, the other end of the encoding shaft is connected with the encoder through a coupler, and the encoder is connected with a socket.
9. The system of claim 8, wherein the axial displacement detecting mechanism further comprises a housing, the housing comprises a housing and a cover, the socket, the encoder, the coupler, the encoding shaft and the bearing are disposed in the housing, the cover is disposed on the housing, the socket end of the socket extends out of the housing, and one end of the encoding shaft extends out of the housing and is connected to the encoding wheel located outside the housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011423204.8A CN112557518A (en) | 2020-12-08 | 2020-12-08 | Annular probe centering mechanism for detecting inner wall of pipeline and detection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011423204.8A CN112557518A (en) | 2020-12-08 | 2020-12-08 | Annular probe centering mechanism for detecting inner wall of pipeline and detection system |
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| CN112557518A true CN112557518A (en) | 2021-03-26 |
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| CN202011423204.8A Pending CN112557518A (en) | 2020-12-08 | 2020-12-08 | Annular probe centering mechanism for detecting inner wall of pipeline and detection system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117288914A (en) * | 2023-11-24 | 2023-12-26 | 广州多浦乐电子科技股份有限公司 | Obstacle surmounting detection device for inner wall of pipeline |
-
2020
- 2020-12-08 CN CN202011423204.8A patent/CN112557518A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117288914A (en) * | 2023-11-24 | 2023-12-26 | 广州多浦乐电子科技股份有限公司 | Obstacle surmounting detection device for inner wall of pipeline |
| CN117288914B (en) * | 2023-11-24 | 2024-01-30 | 广州多浦乐电子科技股份有限公司 | Obstacle surmounting detection device for inner wall of pipeline |
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