CN101852778A - Auxiliary robot for ultrasonic flaw detection - Google Patents

Auxiliary robot for ultrasonic flaw detection Download PDF

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Publication number
CN101852778A
CN101852778A CN201010171868A CN201010171868A CN101852778A CN 101852778 A CN101852778 A CN 101852778A CN 201010171868 A CN201010171868 A CN 201010171868A CN 201010171868 A CN201010171868 A CN 201010171868A CN 101852778 A CN101852778 A CN 101852778A
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CN
China
Prior art keywords
frame
probe
drive motor
coupling agent
ultrasonic
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Granted
Application number
CN201010171868A
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Chinese (zh)
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CN101852778B (en
Inventor
胡效东
陈广庆
王吉岱
张华宇
孙爱芹
吕建涛
巩礼晓
宫全帅
张森
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Shandong University of Science and Technology
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Shandong University of Science and Technology
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Priority to CN201010171868XA priority Critical patent/CN101852778B/en
Publication of CN101852778A publication Critical patent/CN101852778A/en
Application granted granted Critical
Publication of CN101852778B publication Critical patent/CN101852778B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The invention discloses an auxiliary robot for ultrasonic flaw detection, which comprises a frame, a frame travel mechanism, a detection executing part, a coupling agent coating part and a moving mechanism for the executing part. In the frame travel mechanism, each pedrail drive motor acts separately or cooperatively to enable the frame to go forward, backward or turn. The detection executing part is moved by a synchronous belt in the moving mechanism for the executing part. A probe rotating motor and an ultrasonic probe clamping part are arranged on an internal mounting bracket. An ultrasonic probe clamping part is moved up and down by a linear reciprocating motor through the internal mounting bracket. In the coupling agent coating part, a coupling agent brush is fixed on the ultrasonic probe clamping part. The coupling agent brush coats the coupling agent in the front, and then the ultrasonic probe executes the process of flaw detection behind the coupling agent brush. The invention accomplishes heavy works such as coupling agent coating, probe clamping and the like per se, which greatly reduces labor intensity of detectors and improves the efficiency and precision of detection.

Description

Auxiliary robot for ultrasonic flaw detection
Technical field
The present invention relates to ultrasonic flaw detection auxiliary device, promptly relate to a kind of auxiliary robot for ultrasonic flaw detection.
Background technology
UT (Ultrasonic Testing) has following characteristics: have good directivity, have quite high intensity, can produce reflection, refraction and waveform transformation on the interface of two kinds of propagation mediums, have very strong penetration capacity, and human body is not had injury etc.UT (Ultrasonic Testing) is one of lossless detection method commonly used in the device fabrication processes such as pressure vessel, shipbuilding, boiler.Particularly in the seam inspection in the pressure vessel manufacture process, mainly adopt the method for manual detection, have shortcomings such as inefficiency, accuracy of detection deficiency and labour intensity are big.Existing UT (Ultrasonic Testing) main operational steps mainly comprises cleaning, brush couplant, to detect defective, defective locations and shape definite etc. except preliminary works such as flaw detection requires to determine, defectoscope adjustment; In scale removal process, instrument cleanings such as employing steel brush need the flaw detection position to reach dirts such as iron filings on every side, welding slag, dust; In brush couplant process, the thin pulp paste that UT (Ultrasonic Testing) wheat flour specially commonly used is done, machine oil etc. are as couplant, on the position that needs detect, artificial ultrasound wave inspection method adopts one section couplant of brush to operating personnel, detects one section method of detection with the couplant brushing; In the ultrasound examination process, principle and national standard requirement according to ultrasound examination, angle probe should be placed on the detection faces perpendicular to axis of a weld, do the sawtooth pattern scanning, the scope that moves forward and backward of probe should guarantee that scanning arrives whole welding joints cross section, when keeping the probe vertical weld to move forward and backward, also should make 10 °~15 ° left-right rotation; In judging the defect shape process, if in testing process, find defective position, need stop to detect, judge position, the kind of defective by all around rotation with around rotation, and keep a record.Adopting manual method to carry out UT (Ultrasonic Testing) detects and has inefficiency, influences shortcomings such as follow-up work progress and labour intensity are big; Such as: inefficiency, because the circular characteristics of the cylindrical shell of pressure vessel, the top and near the position be unfavorable for brushing couplant and detection, general single detects 120 °, by special tooling pressure vessel is rotated 120 ° then, detect again, need shell ring detection of pressure vessel could be finished for three times, not only labour intensity is big, and work efficiency is very low; Influence the postorder job schedule, the manufacture process of pressure vessel generally is to weld earlier, just can repair by after detecting, welded attachment, pressure test and work such as paint, when ultrasound examination, must stop other work, the poor efficiency of UT (Ultrasonic Testing) has a strong impact on the manufacturing speed of pressure vessel; Ratio of precision is lower, national standard all has clear and definite requirement for the maximum translational speed of probe, the distance that serrate moves, since fertilization ability intensity, operation careful degree and testing staff's aspects such as tired degree influence requirement, be difficult to reach standard-required, influence the result of actual detected; Labour intensity is big, and the pressure vessel UT (Ultrasonic Testing) generally needs two operating personnel at least, and operating personnel brush couplant, and another one detects.When the rotation pressure container, also need a people to operate to the outside, another one people observes rotational angle.Long-time hand hold transducer adopts anchor and uniform snap-in force to cause testing staff's labour intensity bigger.
Summary of the invention
Task of the present invention is to provide a kind of auxiliary robot for ultrasonic flaw detection, and this auxiliary robot for ultrasonic flaw detection can be assisted manually-operated, finishes the flaw detection task, helps increasing work efficiency and reducing labour intensity.
Its technical solution is:
A kind of auxiliary robot for ultrasonic flaw detection comprises frame and carries the frame travel mechanism that frame moves, and the detection execution portion, the couplant that are positioned on the frame are coated with brush portion and carry the travel mechanism of execution portion that detection execution portion moves back and forth as left and right directions; The frame travel mechanism is provided with two magnetic traveling crawlers, wherein a magnetic traveling crawler is provided with sprocket wheel, driving chain, the magnetic crawler belt and first drive motor, first drive motor drives sprocket rotation, carrying the magnetic crawler belt by driving chain advances, another magnetic traveling crawler is provided with sprocket wheel, driving chain, the magnetic crawler belt and second drive motor, second drive motor drives sprocket rotation, carrying the magnetic crawler belt by driving chain advances, above-mentioned first drive motor and second drive motor single movement or the interoperation are made frame and are advanced, retreat or turning action; Travel mechanism of execution portion comprises power wheel, be with synchronously and the step-by-step movement drive motor, detecting execution portion carries mobile by synchronous band, detect execution portion and comprise the ultrasonic probe clamping part that is positioned at the below, probe electric rotating machine and internal fixation frame, the motor shaft of probe electric rotating machine is towards the below, the ultrasonic probe clamping part is connected with the motor shaft of probe electric rotating machine, the linear reciprocating motor cooperates with the transmission of internal fixation frame, above-mentioned probe electric rotating machine and excusing from death ripple probe clamping part are arranged on this internal fixation frame, and the linear reciprocating motor carries probe electric rotating machine and ultrasonic probe clamping part lifting position or down position by the internal fixation frame; Couplant brushing mechanism comprises couplant container, hydraulic pump and coupling agent brush, by connecting line the three is coupled together, coupling agent brush is fixed on the ultrasonic probe clamping part, coupling agent brush is positioned at the front side of ultrasonic probe clamping part clamping ultrasonic probe, coupling agent brush is the brushing couplant in front, and ultrasonic probe is detected a flaw following closely.
Above-mentioned first drive motor is positioned at the rear side of frame travel mechanism, first drive motor is connected with rear sprocket wheel in the magnetic traveling crawler of place, above-mentioned second drive motor is positioned at the front side of frame travel mechanism, and second drive motor is connected with the place ahead sprocket wheel in the magnetic traveling crawler of place.
Above-mentioned detection execution portion comprises square bearer and following square bearer, the internal fixation chord position is in last square bearer docks formed space, back with following square bearer in, the support partial fixing of linear reciprocating motor is up on the cabane plate of framework, the motor shaft of linear reciprocating motor stretches into square bearer and is connected with the last frame plate of inner fixed stand, the support partial fixing of probe electric rotating machine is on frame plate on the inner fixed stand, the motor shaft of probe electric rotating machine stretches into inner fixed stand and is in transmission connection with the transition axis of having children outside the state plan in the ripple probe clamping part, fixedly connected by axle sleeve between the top of transition axis and the inner fixed stand, transition axis passes down square bearer and is in transmission connection with the probe clamping head that is positioned at the below, is provided with compression spring in the following spindle nose and the probe clamping head connecting part of transition axis.
Above-mentioned square bearer and the following square bearer gone up located in the rear side docking site to fixedly connected with being with synchronously, be provided with guide rail sleeve on the fronk rack plate of framework and the back frame plate up, be nested with at each self-corresponding on the cross slide way that right and left stretches upwards by guide rail sleeve, frame plate is provided with the longitudinally guiding bar on the internal fixation frame, and the longitudinally guiding bar passes the spacing hole that is positioned on the square bearer cabane plate.
Above-mentioned probe clamping head comprises shift fork shape connecting portion, and the ultrasonic probe that is positioned at the below is hinged on the prong position of shift fork shape connecting portion by transverse axis.
The present invention can have following useful technique effect:
1, can reduce labour intensity.The present invention is finished heavy work contents such as brushing couplant and probe clamping by himself, generally need not the rotation pressure container and can finish detection, has greatly reduced testing staff's labour intensity.
2, can increase work efficiency.When carrying out the UT (Ultrasonic Testing) detection, the testing staff only need or not artificial brushing couplant in the pressure vessel built-in function, does not need the rotation pressure container can carry out omnibearing detection, has improved detection efficiency greatly; Be accompanied by the raising of detection efficiency, can accelerate the efficient of whole processing, reduce the phenomenon of delaying work that causes because detection efficiency is low.
3, can improve accuracy of detection.The present invention can make proper and stable snap-in force between ultrasonic probe and the pressure vessel wall, avoid because the pressure that human factors such as testing staff's fatigue, anxiety cause and the phenomenon of direction inequality.
Description of drawings
The invention will be further described below in conjunction with accompanying drawing and embodiment:
Fig. 1 is the structural principle synoptic diagram of one embodiment of the present invention.
Fig. 2 is the plan structure principle schematic of Fig. 1 mode.
Fig. 3 is the side-looking structural principle synoptic diagram of Fig. 1 mode.
Embodiment
In conjunction with Fig. 1, Fig. 2 and Fig. 3, a kind of auxiliary robot for ultrasonic flaw detection, its frame 1 is provided with the frame travel mechanism.The frame travel mechanism is provided with No. two magnetic traveling crawlers 3 that two magnetic traveling crawlers promptly are positioned at a magnetic traveling crawler 2 in frame left side and are positioned at the frame right side.No. one magnetic traveling crawler 2 is provided with sprocket wheel, driving chain 202, magnetic crawler belt 203 and first drive motor 204, first drive motor 204 is positioned at the rear side of frame travel mechanism, with its place magnetic traveling crawler is that the rear sprocket wheel 201 in the magnetic traveling crawler 2 is connected, drive sprocket rotation by first drive motor 204, drive the magnetic crawler belt by driving chain and advance.No. two magnetic traveling crawler 3 is provided with sprocket wheel, driving chain 302, magnetic crawler belt 303 and second drive motor 304, second drive motor 304 is positioned at the front side of frame travel mechanism, with its place magnetic traveling crawler is that No. two the place ahead sprocket wheels 301 in the magnetic traveling crawler 3 are connected, drive sprocket rotation by second drive motor, drive the magnetic crawler belt by driving chain and advance.Above-mentioned first drive motor 204 and second drive motor, 304 single movements or interoperation are made frame and are advanced, retreat or turning action.It detects execution portion and comprises the probe electric rotating machine 5 at the ultrasonic probe clamping part 4 that is positioned at the below, middle part and the linear reciprocating motor 6 of top, and internal fixation frame 7, goes up square bearer 8 and following square bearer 9.Above-mentioned internal fixation frame 7 is positioned at square bearer 8 and docks formed space, back with following square bearer 9, the support partial fixing of linear reciprocating motor 6 is up on the cabane plate 801 of framework 8, the motor shaft of linear reciprocating motor 6 stretches into square bearer 8 and is connected with the last frame plate 701 of inner fixed stand 7, and linear reciprocating motor 6 carries probe electric rotating machine and ultrasonic probe clamping part lifting position or down position by internal fixation frame 7.The support partial fixing of above-mentioned probe electric rotating machine 5 is on frame plate 701 on the inner fixed stand 7, transition axis 401 during the motor shaft of probe electric rotating machine 5 stretches into inner fixed stand 7 and has children outside the state plan ripple probe clamping part 4 is connected, fixedly connected by axle sleeve etc. with the following frame plate 702 of inner fixed stand in the top of transition axis 401, the probe clamping head 402 of the excusing from death ripple probe clamping part 4 below transition axis 401 passes down square bearer 9 and is arranged in is in transmission connection, and is provided with compression spring 403 in the following spindle nose and the probe clamping head connecting part of transition axis 401.Above-mentioned probe clamping head 402 comprises shift fork shape connecting portion 404, and the ultrasonic probe 10 that is positioned at the below is hinged on the prong position of shift fork shape connecting portion 404 by transverse axis.Its travel mechanism of execution portion comprises power wheel 11, is with 12 and step-by-step movement drive motor 13 synchronously, above-mentioned upward square bearer 8 is located in the rear side docking site with following square bearer 9 and is with 12 to fixedly connected synchronously, be provided with guide rail sleeve 14 on the fronk rack plate 802 of framework 8 and the back frame plate 803 up, be nested with at each self-corresponding on the cross slide way that right and left stretches upwards by guide rail sleeve 14, frame plate 701 is provided with longitudinally guiding bar 15 on the internal fixation frame 7, and longitudinally guiding bar 15 passes the spacing hole that is positioned on square bearer 8 cabane plates.Above-mentioned detection execution portion can be carried on the left and right directions by synchronous band and move back and forth.Its couplant brushing mechanism comprises couplant container 16, hydraulic pump 17 and coupling agent brush 18, is that couplant container 16, hydraulic pump 17 couple together with coupling agent brush 18 by connecting line with the three, coupling agent brush 18 is fixed on the ultrasonic probe clamping part 4, coupling agent brush 18 is positioned at the front side of ultrasonic probe clamping part clamping ultrasonic probe 10, coupling agent brush is the brushing couplant in front, and ultrasonic probe is detected a flaw following closely.
In the aforesaid way:
By first drive motor in the frame travel mechanism and second drive motor single movement or the interoperation, the present invention is made advance, retreat or action such as turning;
Detection execution portion can be made in the to-and-fro movement on the left and right directions, and it carries out organic serrate of finishing in the ultrasound examination that cooperates with frame walking motion of mechanism and detects route;
Detect execution portion and implement moving up and down of its ultrasonic probe clamping part etc. by the driving of linear reciprocating motor, and can be by final stressedly changing within the limits prescribed that compression spring be controlled ultrasonic probe, keep stressed between ultrasonic probe and the pressure vessel wall, before the present invention starts working and behind the end-of-job, promote by the ultrasonic probe of linear reciprocating motor ultrasonic probe clamping part and clamping thereof, avoid the unnecessary wearing and tearing of ultrasonic probe, adopt the probe electric rotating machine to drive ultrasonic probe and rotate, can finish the rotational action when normally detecting and judging defect shape;
Ultrasonic probe is hinged on the prong position of shift fork shape connecting portion by transverse axis, can realize the Automatic Levelling of popping one's head in, convenient at the detected pressures container girth joint and during longitudinal seam, satisfy all around rotation requirement by a small margin of probe.
Need to prove that also under the instruction of this instructions, any equivalents or obvious variant that those skilled in the art have done the present invention all should be in protection scope of the present invention.

Claims (5)

1. auxiliary robot for ultrasonic flaw detection, be characterised in that it comprises frame and carries the frame travel mechanism that frame moves, and the detection execution portion, the couplant that are positioned on the frame are coated with brush portion and carry the travel mechanism of execution portion that detection execution portion moves back and forth as left and right directions; The frame travel mechanism is provided with two magnetic traveling crawlers, wherein a magnetic traveling crawler is provided with sprocket wheel, driving chain, the magnetic crawler belt and first drive motor of parcel driving chain, first drive motor drives sprocket rotation, driving the magnetic crawler belt by driving chain advances, another magnetic traveling crawler is provided with sprocket wheel, driving chain, the magnetic crawler belt and second drive motor of parcel driving chain, second drive motor drives sprocket rotation, driving the magnetic crawler belt by driving chain advances, above-mentioned first drive motor and second drive motor single movement or the interoperation are made frame and are advanced, retreat or turning action; Travel mechanism of execution portion comprises power wheel, be with synchronously and the step-by-step movement drive motor, detecting execution portion carries mobile by synchronous band, detect execution portion and comprise the ultrasonic probe clamping part that is positioned at the below, the probe electric rotating machine, linear reciprocating motor and internal fixation frame, the motor shaft of probe electric rotating machine is towards the below, the ultrasonic probe clamping part is connected with the motor shaft of probe electric rotating machine, the linear reciprocating motor cooperates with the transmission of internal fixation frame, above-mentioned probe electric rotating machine and excusing from death ripple probe clamping part are arranged on this internal fixation frame, and the linear reciprocating motor carries probe electric rotating machine and ultrasonic probe clamping part lifting position or down position by the internal fixation frame; Couplant brushing mechanism comprises couplant container, hydraulic pump and coupling agent brush, by connecting line the three is coupled together, coupling agent brush is fixed on the ultrasonic probe clamping part, coupling agent brush is positioned at the front side of ultrasonic probe clamping part clamping ultrasonic probe, coupling agent brush is the brushing couplant in front, and ultrasonic probe is detected a flaw following closely.
2. auxiliary robot for ultrasonic flaw detection according to claim 1, it is characterized in that: described first drive motor is positioned at the rear side of frame travel mechanism, first drive motor is connected with rear sprocket wheel in the magnetic traveling crawler of place, above-mentioned second drive motor is positioned at the front side of frame travel mechanism, and second drive motor is connected with the place ahead sprocket wheel in the magnetic traveling crawler of place.
3. auxiliary robot for ultrasonic flaw detection according to claim 1, it is characterized in that: described detection execution portion comprises square bearer and following square bearer, the internal fixation chord position is in last square bearer docks formed space, back with following square bearer in, the support partial fixing of linear reciprocating motor is up on the cabane plate of framework, the motor shaft of linear reciprocating motor stretches into square bearer and is connected with the last frame plate of inner fixed stand, the support partial fixing of probe electric rotating machine is on frame plate on the inner fixed stand, the motor shaft of probe electric rotating machine stretches into inner fixed stand and is in transmission connection with the transition axis of having children outside the state plan in the ripple probe clamping part, fixedly connected by axle sleeve between the top of transition axis and the inner fixed stand, the probe clamping head of the excusing from death ripple probe clamping part below transition axis passes down square bearer and is arranged in is in transmission connection, and is provided with compression spring in the following spindle nose and the probe clamping head connecting part of transition axis.
4. auxiliary robot for ultrasonic flaw detection according to claim 3, it is characterized in that: described square bearer and the following square bearer gone up located in the rear side docking site to fixedly connected with being with synchronously, be provided with guide rail sleeve on the fronk rack plate of framework and the back frame plate up, be nested with at each self-corresponding on the cross slide way that right and left stretches upwards by guide rail sleeve, frame plate is provided with the longitudinally guiding bar on the internal fixation frame, and the longitudinally guiding bar passes the spacing hole that is positioned on the square bearer cabane plate.
5. auxiliary robot for ultrasonic flaw detection according to claim 3 is characterized in that: described probe clamping head comprises shift fork shape connecting portion, and the ultrasonic probe that is positioned at the below is hinged on the prong position of shift fork shape connecting portion by transverse axis.
CN201010171868XA 2010-05-14 2010-05-14 Auxiliary robot for ultrasonic flaw detection Expired - Fee Related CN101852778B (en)

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101979223A (en) * 2010-10-09 2011-02-23 贾聚华 Ultrasonic inspection robot in pipeline
CN102230915A (en) * 2011-04-07 2011-11-02 华南理工大学 Device and method for flaw detection of small crawler-type rails based on three-way ultrasonic diffraction
CN102901772A (en) * 2012-06-12 2013-01-30 过宾 Robot for intelligent tracking ultrasonic detection of welding line, and software analysis system therefor
CN103293228A (en) * 2013-03-04 2013-09-11 江苏省特种设备安全监督检验研究院镇江分院 Adjustable weld seam flaw detection guided wave probe fixator
CN103853141A (en) * 2014-03-18 2014-06-11 航天科工哈尔滨风华有限公司 Control system of automatic detecting wall-climbing robot for fan tower cylinder welding seams
CN103852524A (en) * 2014-03-26 2014-06-11 深圳市神视检验有限公司 Automatic scanning device for ultrasonic wave detection
CN104002054A (en) * 2014-06-10 2014-08-27 昆山宝锦激光拼焊有限公司 Automatic detection device of welding line welding quality
CN104049632A (en) * 2014-05-27 2014-09-17 中国石油天然气集团公司 Walking equipment used for TOFD testing and application method thereof
CN104656642A (en) * 2013-11-22 2015-05-27 中国石油天然气集团公司 Traveling equipment for TOFD (time of flight diffraction) detection and use method
CN104764807A (en) * 2015-03-23 2015-07-08 国家电网公司 A weld-seam ultrasonic wave automatic detection system for in-service steel pipe towers of power transmission
CN104374824B (en) * 2014-10-08 2017-04-05 顿向明 One kind suffers from one's own actions flaw detection mechanism
CN106950286A (en) * 2017-02-28 2017-07-14 河海大学 The detection of steel bridge deck top board welding line ultrasonic walks dolly certainly
CN106970152A (en) * 2016-04-29 2017-07-21 宁波麦克潘特电动工具有限公司 Carbide drill Welding quality test device
CN107024538A (en) * 2016-04-29 2017-08-08 宁波麦克潘特电动工具有限公司 Ceramic tile drill bit Welding quality test device
CN107132275A (en) * 2016-02-29 2017-09-05 沈阳海纳自动化设备有限公司 One kind flaw detection robot

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101979223A (en) * 2010-10-09 2011-02-23 贾聚华 Ultrasonic inspection robot in pipeline
CN102230915A (en) * 2011-04-07 2011-11-02 华南理工大学 Device and method for flaw detection of small crawler-type rails based on three-way ultrasonic diffraction
CN102230915B (en) * 2011-04-07 2013-05-15 华南理工大学 Device and method for flaw detection of small crawler-type rails based on three-way ultrasonic diffraction
CN102901772A (en) * 2012-06-12 2013-01-30 过宾 Robot for intelligent tracking ultrasonic detection of welding line, and software analysis system therefor
CN102901772B (en) * 2012-06-12 2015-06-10 过宾 Robot for intelligent tracking ultrasonic detection of welding line, and software analysis system therefor
CN103293228A (en) * 2013-03-04 2013-09-11 江苏省特种设备安全监督检验研究院镇江分院 Adjustable weld seam flaw detection guided wave probe fixator
CN104656642A (en) * 2013-11-22 2015-05-27 中国石油天然气集团公司 Traveling equipment for TOFD (time of flight diffraction) detection and use method
CN104656642B (en) * 2013-11-22 2017-01-11 中国石油天然气集团公司 Traveling equipment for TOFD (time of flight diffraction) detection and use method
CN103853141A (en) * 2014-03-18 2014-06-11 航天科工哈尔滨风华有限公司 Control system of automatic detecting wall-climbing robot for fan tower cylinder welding seams
CN103852524A (en) * 2014-03-26 2014-06-11 深圳市神视检验有限公司 Automatic scanning device for ultrasonic wave detection
CN104049632A (en) * 2014-05-27 2014-09-17 中国石油天然气集团公司 Walking equipment used for TOFD testing and application method thereof
CN104002054A (en) * 2014-06-10 2014-08-27 昆山宝锦激光拼焊有限公司 Automatic detection device of welding line welding quality
CN104374824B (en) * 2014-10-08 2017-04-05 顿向明 One kind suffers from one's own actions flaw detection mechanism
CN104764807A (en) * 2015-03-23 2015-07-08 国家电网公司 A weld-seam ultrasonic wave automatic detection system for in-service steel pipe towers of power transmission
CN104764807B (en) * 2015-03-23 2017-03-29 国家电网公司 In-service transmission of electricity steel pipe tower weld joint ultrasonic automated detection system
CN107132275A (en) * 2016-02-29 2017-09-05 沈阳海纳自动化设备有限公司 One kind flaw detection robot
CN106970152A (en) * 2016-04-29 2017-07-21 宁波麦克潘特电动工具有限公司 Carbide drill Welding quality test device
CN107024538A (en) * 2016-04-29 2017-08-08 宁波麦克潘特电动工具有限公司 Ceramic tile drill bit Welding quality test device
CN107024538B (en) * 2016-04-29 2019-11-05 宁波神钻工具有限公司 Ceramic tile drill bit Welding quality test device
CN106950286A (en) * 2017-02-28 2017-07-14 河海大学 The detection of steel bridge deck top board welding line ultrasonic walks dolly certainly

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