CN101003307A - Airplane body checking method and device - Google Patents
Airplane body checking method and device Download PDFInfo
- Publication number
- CN101003307A CN101003307A CNA200710001801XA CN200710001801A CN101003307A CN 101003307 A CN101003307 A CN 101003307A CN A200710001801X A CNA200710001801X A CN A200710001801XA CN 200710001801 A CN200710001801 A CN 200710001801A CN 101003307 A CN101003307 A CN 101003307A
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- airframe
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- vehicles
- testing fixture
- ultrasonic detector
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000007689 inspection Methods 0.000 claims abstract description 41
- 230000001678 irradiating effect Effects 0.000 claims abstract description 4
- 238000012360 testing method Methods 0.000 claims description 22
- 238000005553 drilling Methods 0.000 claims description 12
- 238000003556 assay Methods 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims description 2
- 238000002559 palpation Methods 0.000 abstract description 4
- 230000001066 destructive effect Effects 0.000 abstract 1
- 239000004918 carbon fiber reinforced polymer Substances 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000002604 ultrasonography Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000005755 formation reaction Methods 0.000 description 3
- 239000000523 sample Substances 0.000 description 3
- 238000011179 visual inspection Methods 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000006866 deterioration Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910000737 Duralumin Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011960 computer-aided design Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003933 environmental pollution control Methods 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000009659 non-destructive testing Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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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
-
- 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
- G01N29/24—Probes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
Abstract
The invention provides a detecting method for airframe and a device thereof which can correctly and high efficiently execute non-destructive inspection for the airframe instead of naked eye inspection and palpation. The device is comprised by: an inspection vehicle 10 capable of moving toward various direction; a laser emitter 32 carried by the inspection vehicle 10 and for irradiating the airframe 1 to be inspected and receiving the reflected laser; a supersonic detector 13 carried by the inspection vehicle 10 and for irradiating the airframe 1 to be inspected and receiving the reflected supersonic; a control device 35 for control the motion of the inspection vehicle 10 according to the signal transmitted form the laser emitter 32, and displaying the supersonic inspection data about the airframe according to the signal comes from the supersonic detector 13.
Description
Technical field
The present invention relates to a kind of inspection method and device of airframe, not only in fabrication phase of aircraft, also nondestructive inspection is carried out on the surface of airframe after having entered operation flight running.
Background technology
Airframe in the past mainly is made of the metallic material based on duralumin and aluminum alloy or their composite material, but recently from viewpoints such as the economy of flight and environmental pollution control measures, for CFRP (carbonfiber reinforced plastics) material is adopted in the further lightweight of body.The strength characteristics of general CFRP material itself is enough as airworthiness, but often unusual etc. to carry out assay be very important to the bonding that has or not the CFRP interlayer that fatigue of material that the timeliness deterioration of participating in after the navigation and environment deterioration or running cause etc. caused in advance, and require regular inspection (patent documentation 1).
But the inspection method to aircraft-like huge structure does not have suitable method in the prior art, based on the method for the manual apparatus for ultrasonic examination of visual inspection and palpation or immersion liquid cross-check sum manual scanning.Any one of these methods all is low efficiency, in most cases relies on skilled operating personnel's sensation, has operating efficiency and checks the low problem of precision.Utilize these inspection methods in the past, be difficult to obtain and carry out the objective data of assay to the resume of participating in after navigating by water, but also have the problem of guaranteeing quality.
And, part in the conventional art is implemented the body nondestructive inspection of X line, need in the method for X line to be used for not by the shielding structure thing of radiation exposure, have the small-sized body be defined to jet etc. thus, and can only implement the problem checked in limited place.
Patent documentation 1: the spy opens flat 7-76289 communique
Summary of the invention
The present invention carries out in view of the above problems, its objective is inspection method and device for a kind of airframe is provided, can not rely on visual inspection and palpation, airframe is carried out correctly nondestructive inspection efficiently.
In order to solve above-mentioned problem, constituting of the testing fixture of the airframe that the present invention relates to has: check vehicles, and can be towards the front and back sway in horizontal surface; Laser hole drilling illuminator is loaded into above-mentioned checking vehicles, to the airframe irradiating laser that will check and receive reflected light; Ultrasonic detector is loaded into above-mentioned checking vehicles, and launches super sonic and receives reflected light to above-mentioned airframe; And control setup, by from above-mentioned the moving of checking vehicles of the signal control of above-mentioned laser hole drilling illuminator, and by the ultrasonic inspection data from the above-mentioned airframe of signal aspect and indication of above-mentioned ultrasonic detector.
The inspection method of airframe involved in the present invention is: utilize from being loaded into the laser hole drilling illuminator that the checks vehicles laser to the airframe irradiation that will check, above-mentioned the checking vehicles of can be in horizontal surface all around moving carried out location with respect to above-mentioned airframe, and carry out the ultrasonic inspection of above-mentioned airframe by being loaded into the above-mentioned ultrasonic detector that checks vehicles.
According to the present invention, a kind of inspection method and device of airframe can be provided, can not rely on visual inspection and palpation, airframe is carried out correctly nondestructive inspection efficiently.
Description of drawings
Fig. 1 represents the testing fixture of the airframe of the 1st embodiment of the present invention, and Fig. 1 (a) is a birds-eye view, and Fig. 1 (b) is a front view.
Fig. 2 is the laser system that testing fixture had of the airframe of expression the 1st embodiment of the present invention, and Fig. 2 (a) is a birds-eye view, and Fig. 2 (b) is a lateral plan.
Fig. 3 is the elevation view of the 1st example that checks vehicles that testing fixture had of the airframe of expression the 1st embodiment of the present invention.
Fig. 4 is the elevation view of the 2nd example that checks vehicles that testing fixture had of the airframe of expression the 1st embodiment of the present invention.
Fig. 5 is the front view of the detector feeler mechanism that testing fixture had of the airframe of expression the 1st embodiment of the present invention.
Fig. 6 is the figure of explanation transmission of the inspection data of radio communication in the testing fixture of the airframe of the 1st embodiment of the present invention.
Fig. 7 is the testing fixture of airframe of the 1st embodiment of expression the 2nd embodiment of the present invention, and Fig. 7 (a) is a birds-eye view, and Fig. 7 (b) is a lateral plan.
Fig. 8 is the birds-eye view of testing fixture of airframe of the 2nd embodiment of expression the 2nd embodiment of the present invention.
Fig. 9 is the birds-eye view of testing fixture of airframe of the 3rd embodiment of expression the 2nd embodiment of the present invention.
The specific embodiment
Below, with reference to figure the testing fixture of the related airframe of the of the present invention the 1st and the 2nd embodiment is described.
(the 1st embodiment)
The testing fixture of the airframe of present embodiment has and checks vehicles, this check vehicles and be mounted with laser system, control the ultrasound line array detector 6 effectors (manipulator) robot, make lifting mechanism that above-mentioned robot moves in vertical direction and the horizontal mobile mechanism that robot is moved in the horizontal direction, this checks vehicles and can direction move and can be freely near (access) airframe all around.Check vehicles and carry out location with respect to airframe by laser system.The action of above-mentioned robot and lifting mechanism and horizontal mobile mechanism is controlled by wireless remote (remote) transfer system by control setup.The ultrasound waves graphic data that obtains from the ultrasound line array detector transmits to control setup by the wireless remote transfer system, performs calculations and image demonstration result according to predefined flaw detection condition in control setup.And, carry out evaluation analysis with past data contrast ground.
Check vehicles and be close to inside and outside the 1m of airframe by laser system, carry out location with airframe by laser system afterwards, and,, make ultrasonic detector carry out profiling to the airframe surface according to 3 dimension data of airframe by setting the instrumentation origin position.
Checking vehicles has Magnetic Sensor in the bottom, detects the tape that is provided with on the ground, moves along airframe, and carries out the whole inspection of airframe.The ultrasound line array detector is constituted as, adopt spring (spring) feeler mechanism, can absorb with interior offset 10mm.
By laser system to check vehicles and airframe carried out the location after, make error or position error even exist between the body surface position of the CAD of airframe (Computer Aided Design) data and material object, the feeler mechanism that is arranged on the spring of probe bracket (probeholder) side works, and the boots of will popping one's head in (probe shoe) contact part error absorbs.And, suppose under the curve form situation different or deform and exceed under the situation of profiling actuation range with above-mentioned cad data, detect the irregularly shaped of airframe by the contact pickup (touch sensor) that is located near the contact the detector, do not carry out useless detection.
Below, with reference to Fig. 1～Fig. 6 the 1st embodiment of the present invention is elaborated.
Fig. 1 (a) and (b) are testing fixture single-piece birds-eye view and front views of the related airframe of expression present embodiment.As shown in the figure, with respect to the airframe of mainly being made by the composite material of CFRP material or CFRP 1, the 10 use laser systems that check vehicles of having loaded apparatus for ultrasonic examination position.In order to make 10 location of correctly carrying out that check vehicles with respect to airframe 1, adopt the structure of the universal wheels that are provided with mobile wheel and rotatable 90 degree, check vehicles 10 can be towards the front and back sway so that make.And, the laser light-receiving device 31 that is subjected to ray laser 30 is located at the underbelly of airframe 1.
Fig. 2 (a) is the birds-eye view of expression laser system, and Fig. 2 (b) is a lateral plan.Constitute: be subjected to light by laser hole drilling illuminator 32 emitted laser 30 that are provided with on the horizontal adjusting mechanism 33 with laser light-receiving device 31, and receive by laser light-receiving device 31 laser light reflected by laser hole drilling illuminator 32, and in communication scaling device 34, be electric signal from converting optical signals, and by communication cable 36 with electric signal guide control device 35.
Fig. 3 represent to load laser system and ultrasonic system, and can be towards the front and back sway check vehicles 10.That is, on chassis 11, be provided with mobile wheel 41, be used to drive mobile wheel 41 mobile with servomotor 44, be used for the servomotor 45 that the lifting of conversion direction to left and right direction (jack) mechanism 43, left and right directions move the universal wheel 42 of usefulness and be used to drive universal wheel 42.And, be provided with riser guide 47 in the setting of the top of chassis 11, on riser guide 47, shears (bracket) 46 is installed by not shown lifting shaft and servomotor, horizontal mobile mechanism 20 is installed on the shears 46.
The top of horizontal mobile mechanism 20 is equipped with the horizontal adjusting mechanism 33 of laser hole drilling illuminator 32, the bottom is equipped with LM (linear motor) bootstrap block 21, track (rail) 22 is installed in the top of shears 46, and constitutes by not shown parallel motion and can move in the horizontal direction with servomotor.And, the base portion of 6 robots 12 liftably is installed in the top of riser guide 47, be provided with ultrasonic detector 13 at the front end of 6 robots 12, be connected with water supply pipe 14 on the ultrasonic detector 13.
Fig. 4 variation of 10 of representing to check vehicles.That is, constitute, by riser guide 47a, 47b in both sides horizontal adjusting mechanism 33 and 6 robots 12 to laser hole drilling illuminator 32 support.Constitute according to this, make 10 the stability of checking vehicles improve and become and be not easy overturning.
So, use to be arranged on the laser system that checks vehicles on 10, will check vehicles as described below 10 positions with respect to airframe 1, and moves.Laser light-receiving device 31 is arranged on the line at the leading section that connects airframe 1 and rear portion, and by measuring by laser light-receiving device 31 and laser hole drilling illuminator 32 and checking vehicles 10 parallelism (parallel) and performing calculations, will check vehicles thus 10 and the position of airframe 1 be adjusted into parastate.With the line of airframe 1 positioned parallel on, laser is arranged at tape 48 on the ground as guiding ground, and detect by being arranged on 10 the 49 pairs of tapes 48 of Magnetic Sensor of checking vehicles, making checks vehicles 10 is parallel to airframe 1 and moves.
Fig. 5 is illustrated in the feeler mechanism of the detector that the leading section of 6 robots 12 installs.Promptly, constitute, at the leading section of mechanical hand 15 detector pivot shaft 24 is installed, carrying out the profiling action up and down by spring 16 and spring 17 and by plate 27a, 27b.And by directing plate 25 and sell 18 and keep ultrasonic detectors 13, making ultrasonic detector 13 with pin 18 as fulcrum is rotating formation, and makes the curved surface of 13 pairs of airframes 1 of ultrasonic detector carry out profiling.And, between the surface of probe boots 26 and airframe 1, supply with water 23 by water supply pipe 14, super sonic 19 is efficiently transmitted.
Fig. 6 is the figure that the inspection data of explanation radio communication transmit, it constitutes, the ultrasonic inspection data of airframe 1 are loaded in the electric wave 38 by being loaded into the wireless system 39 that checks vehicles on 10, and send to control setup 35 by being positioned at the data sink 37 that leaves the position.Also 3 dimension sensors can be attached near the ultrasonic detector 13, and the position data that will obtain by the action of 3 dimension sensors and 6 robots is with the wireless transmission of ultrasonic inspection data.
According to present embodiment, can be by being loaded into holds magnetic induction type check vehicles 10 6 robots 12 and the formation of ultrasonic detector 13, move freely on the ground and, the airframe 1 of huge structure is implemented the super sonic nondestructive inspection with fairly simple step.As checking vehicles 10 localization method, as shown in Figure 3,, can correctly make to check vehicles 10 near airframe 1 by using laser system and tape 48.By a plurality of ultrasonic transduters being set on 10 checking vehicles in advance, can avoid and the contacting of airframe 1.
And,, the space is set so can relax owing to, the control setup 35 of defective being analyzed demonstration can be arranged on the position of leaving by being provided with the ultrasonic inspection data by the wireless data source that sends 37.And,,, and can improve checking efficiency even also can check with rough positional precision by laser instrumentation system and body cad data and feeler mechanism.And, by with 3 dimension sensor configuration ultrasonic detector 13 near and carry out wireless transmission, can be only carry out nondestructive inspection to the part of necessity especially, can very simply check.And, by each inspection data are carried out scorekeeping, can do detailed comparison, and can carry out prediction and evaluation the influence of organism fatigue with the check result of new inspection.
(the 2nd embodiment)
Utilize Fig. 7～Fig. 9 that the 2nd embodiment is described.Fig. 7 (a) but be two chassis 11 are arranged side by side and horizontal mobile mechanism 40 at parallel motion on load the planar view of the embodiment of laser system and ultrasonic detector, Fig. 7 (b) is the lateral plan of Fig. 7 (a).
And, because the super sonic non-destructive testing apparatus of the airframe that technical scheme 2 is related, can connect many vehicles by horizontal mobile mechanism corresponding to the inspection area of airframe, just can obtain the advantage of wider inspection data efficiently so have, and can significantly improve the inspection operating efficiency by once setting (setting).
Fig. 8 and Fig. 9 are 10 the formations of checking vehicles of utilizing 2 or 4 shown in Figure 7, constitute according to this, owing to can when improving checking efficiency, implement to check to many places, so can shorten the single-piece testing time.
In addition, though the above-mentioned the 1st and the 2nd embodiment wheel that sway forwards, backwards is installed has been described check vehicles 10, also can adopt with the guide rail of airframe 1 configured in parallel on mobile chassis mode.
Claims (9)
1. the testing fixture of an airframe is characterized in that, has:
Check vehicles, can be in horizontal surface towards the front and back sway;
Laser hole drilling illuminator is loaded into above-mentioned checking vehicles, to the airframe irradiating laser that will check and receive reflected light;
Ultrasonic detector is loaded into above-mentioned checking vehicles, and above-mentioned airframe is launched super sonic and received reflected light; And
Control setup, by from above-mentioned the moving of checking vehicles of the signal control of above-mentioned laser hole drilling illuminator, and by the ultrasonic inspection data from the above-mentioned airframe of signal aspect and indication of above-mentioned ultrasonic detector.
2. the testing fixture of airframe as claimed in claim 1 is characterized in that,
Above-mentioned ultrasonic detector is set at the front end of multi-axis machine arm.
3. the testing fixture of airframe as claimed in claim 1 is characterized in that,
Above-mentioned checking vehicles has the Magnetic Sensor of the tape that induction is provided with on the ground.
4. the testing fixture of airframe as claimed in claim 1 is characterized in that,
Near above-mentioned ultrasonic detector, has the contact pickup of contact, so that make the influence of the surface accuracy of airframe not sneak into above-mentioned ultrasonic inspection data.
5. the testing fixture of airframe as claimed in claim 1 is characterized in that,
Have 3 dimension sensors near above-mentioned ultrasonic detector, above-mentioned control setup is tieed up the position data combination of sensors with above-mentioned ultrasonic inspection data and above-mentioned 3 and is shown.
6. the testing fixture of airframe as claimed in claim 1 is characterized in that,
Above-mentioned control setup has, and compares by the ultrasonic inspection data that will obtain and before this inspection data, comes the fatigue of the airframe that produced by the aircraft running is carried out the function of assay.
7. the testing fixture of airframe as claimed in claim 1 is characterized in that,
Above-mentioned control setup is set at the position of leaving above-mentioned airframe, and the signal from above-mentioned ultrasonic detector is carried out wireless receiving.
8. the testing fixture of airframe as claimed in claim 1 is characterized in that,
Connect many above-mentioned checking vehicles by horizontal mobile mechanism, and above-mentioned ultrasonic detector and above-mentioned laser hole drilling illuminator are loaded on the above-mentioned horizontal mobile mechanism.
9. the inspection method of an airframe is characterized in that,
Utilization is from being loaded into the laser hole drilling illuminator that the checks vehicles laser to the airframe irradiation that will check, to can be in horizontal surface carrying out location all around, and carry out the ultrasonic inspection of above-mentioned airframe by being loaded into the above-mentioned ultrasonic detector that checks vehicles with respect to above-mentioned airframe to above-mentioned the checking vehicles of moving.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006001582A JP4734120B2 (en) | 2006-01-06 | 2006-01-06 | Aircraft body inspection method and apparatus |
| JP001582/2006 | 2006-01-06 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101003307A true CN101003307A (en) | 2007-07-25 |
| CN100523802C CN100523802C (en) | 2009-08-05 |
Family
ID=38339399
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB200710001801XA Expired - Fee Related CN100523802C (en) | 2006-01-06 | 2007-01-05 | Airplane body checking method and device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP4734120B2 (en) |
| KR (1) | KR100849106B1 (en) |
| CN (1) | CN100523802C (en) |
| SG (1) | SG134222A1 (en) |
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| CN103163219A (en) * | 2011-12-09 | 2013-06-19 | 通用电气公司 | System and method for inspection of a part with dual multi-axis robotic devices |
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- 2006-01-06 JP JP2006001582A patent/JP4734120B2/en not_active Expired - Fee Related
- 2006-12-29 KR KR1020060138284A patent/KR100849106B1/en not_active IP Right Cessation
- 2006-12-29 SG SG200609001-3A patent/SG134222A1/en unknown
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2007
- 2007-01-05 CN CNB200710001801XA patent/CN100523802C/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102879479A (en) * | 2011-07-11 | 2013-01-16 | 波音公司 | Non-destructive inspection systems and methods that incorporate interchangeable probes |
| CN102879479B (en) * | 2011-07-11 | 2016-09-21 | 波音公司 | Merge nondestructive detection system and the method for interchangeable probe |
| CN102331454A (en) * | 2011-07-15 | 2012-01-25 | 南昌航空大学 | In-situ ultrasonic imaging detection method and device for diameter-variable non-removable spindles |
| CN103163219A (en) * | 2011-12-09 | 2013-06-19 | 通用电气公司 | System and method for inspection of a part with dual multi-axis robotic devices |
| WO2014005511A1 (en) * | 2012-07-04 | 2014-01-09 | 北京理工大学 | Single-manipulator detection device |
| CN111413343A (en) * | 2020-03-17 | 2020-07-14 | 电子科技大学 | Infrared detection device and operation method thereof |
| CN113955132A (en) * | 2021-11-08 | 2022-01-21 | 陕西飞机工业有限责任公司 | Airplane transfer limiting device and method |
| CN114165686A (en) * | 2021-11-24 | 2022-03-11 | 重庆零壹空间航天科技有限公司 | Multi-probe flaw detection device adaptable to complex curved surface of rocket solid engine shell |
Also Published As
| Publication number | Publication date |
|---|---|
| KR100849106B1 (en) | 2008-07-30 |
| KR20070074463A (en) | 2007-07-12 |
| CN100523802C (en) | 2009-08-05 |
| SG134222A1 (en) | 2007-08-29 |
| JP4734120B2 (en) | 2011-07-27 |
| JP2007183172A (en) | 2007-07-19 |
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