CN105644640A - Wall-climbing robot used for measuring thickness of coating of water wall of boiler through mathematical modeling - Google Patents
Wall-climbing robot used for measuring thickness of coating of water wall of boiler through mathematical modeling Download PDFInfo
- Publication number
- CN105644640A CN105644640A CN201510962776.6A CN201510962776A CN105644640A CN 105644640 A CN105644640 A CN 105644640A CN 201510962776 A CN201510962776 A CN 201510962776A CN 105644640 A CN105644640 A CN 105644640A
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- wheel
- thickness
- vibration damping
- transmission circuit
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
- G01B17/025—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness for measuring thickness of coating
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
Abstract
The invention discloses a wall-climbing robot used for measuring the thickness of a coating of a water wall of a boiler through mathematical modeling, and belongs to the field of detection of the water wall of the boiler. The problems that according to thickness detection of a water wall tube, the area is large, positions are dispersed, measurement is inconvenient, and great difficulty is brought to workers are solved. In the structure of a transmission chain, a main wheel, a secondary wheel and a pressing wheel shaft, under the condition that the main wheel rotates, the secondary wheel and the pressing wheel shaft are simultaneously driven to simultaneously rotate through the transmission chain, and the running function of the robot is realized. The transmission chain is tensioned by a pressing wheel, a driven shaft and a driving shaft together. Wireless data interaction between a wireless transmission circuit I and a wireless transmission circuit II is realized, a detected thickness signal is collected, movement of the wall-climbing robot is controlled remotely, and a worker does not need to enter a hearth to control the robot, so that the workload of the worker is reduced, and the personal safety is also guaranteed.
Description
Technical field
The invention belongs to boiler water wall detection field, particularly relate to the climbing robot utilizing mathematical modeling to measure boiler water wall overlay thickness.
Background technology
In station boiler, water wall runs throughout the year, especially during working load height, goods fluid amount is big, under the material circulated washes away, boiler water-wall tube is very easy to be worn, especially the situation that many positions pipe is worn bottom the curved place of boiler wear resistant, water wall smoke outlet, pendant superheater etc. is very serious, power station staff needs accurately to measure pipe wall thickness and changes the safe and stable operation guaranteeing boiler in time, but the area of water wall tube Thickness sensitivity is big, position disperses, is inconvenient to measure and brings very big difficulty to staff. Further, carry out the thickness measurement of boiler water of electric power plant cold wall surface, superficial dust process, to stove in the work such as situation shooting time, work under bad environment in boiler, manual operation working efficiency is low, burner hearth very high manual operation time there is personnel safety hidden danger.
Summary of the invention
The present invention is that the area in order to solve water wall tube Thickness sensitivity is big, position disperses, is inconvenient to measure the problem bringing very big difficulty to staff, and existing offer utilizes mathematical modeling to measure the climbing robot of boiler water wall overlay thickness.
Utilizing mathematical modeling to measure the climbing robot of boiler water wall overlay thickness, it comprises: the wheels of wireless transmission circuit one, upper computer, connection section and two symmetrical structures;
Connection section comprises: vibration damping sheet group, vibration damping sheet bracing frame and leading screw 8;
Vibration damping sheet group is grid shape, and this vibration damping sheet group all can be stretched horizontal and vertical, vibration damping sheet bracing frame comprises the two portions being separated from each other, the two ends of vibration damping sheet group are hinged with two portions of vibration damping sheet bracing frame respectively, for driving, vibration damping sheet group carries out flexible motion to leading screw 8, and two wheels are separately fixed on two portions of vibration damping sheet bracing frame;
Each wheels comprises: compresses wheel back up pad 4, driving mechanism 5, trailing wheel 6, from wheeling supporting frame 7, ultrasonic thickness indicator 9, drive wheel carrier 11, driving chain 12, compression wheel 13, compression wheel shaft 14, wireless transmission circuit two, driven shaft 15, carbon fiber support 16, main drive shaft 17, main wheel 18 and DC servo motor 19, trailing wheel 6 and main wheel 18 to be Electromagnetic wheel;
Compress wheel shaft 14, driven shaft 15 and main drive shaft 17 to be parallel to each other, and compression wheel shaft 14 is positioned at driven shaft 15 and the top of main drive shaft 17, compress wheel 13 and it is fixed on compression wheel shaft 14 end, main wheel 18 is fixed on main drive shaft 17 end, trailing wheel 6 is fixed on driven shaft 15 end, and driving chain 12 is socketed in simultaneously and compresses outside wheel 13, driven shaft 15 and main drive shaft 17;
Carbon fiber support 16 is longitudinally arranged, wheels are fixedly connected with by a part for carbon fiber support 16 with vibration damping sheet bracing frame, wheel carrier 11 is driven to be fixed on the end of carbon fiber support 16, wheel carrier 11 is rotationally connected the first end of main drive shaft 17 with driving, and main drive shaft 17 is mutually vertical with carbon fiber support 16, the first end of carbon fiber support 16 it is fixed on from wheeling supporting frame 7, the first end of driven shaft 15 be rotationally connected from wheeling supporting frame 7, compressing wheel back up pad 4 is fixed on driving wheel carrier 11, the first end compressing wheel shaft 14 is rotationally connected with compression wheel back up pad 4, wireless transmission circuit two and driving mechanism 5 are all fixed on and compress in wheel back up pad 4,
The thickness signal output terminal of ultrasonic thickness indicator 9 connects the thickness signal input terminus of wireless transmission circuit two, the control signal output terminal of wireless transmission circuit two connects the control signal output terminal of driving mechanism 5, the actuate signal output terminal of driving mechanism 5 connects the driving signal input of DC servo motor 19, DC servo motor 19 drives main wheel 18 to rotate by main drive shaft 17, ultrasonic thickness indicator 9 is fixed in carbon fiber support 16, and ultrasonic thickness indicator 9 is for detecting the thickness of water wall tube on water wall;
Realizing wireless data between wireless transmission circuit one and wireless transmission circuit two mutual, the thickness signal output terminal of wireless transmission circuit one connects the thickness signal input terminus of upper computer;
Upper computer comprises with lower unit:
Initial value record cell: gather in real time and record the thickness signal that wireless transmission circuit one obtains, this thickness signal comprises thickness signal initial value and thickness signal is currently worth, and thickness signal initial value is sent to demarcation unit, the thickness signal gathered in real time is currently worth and is sent to actual value obtaining unit;
Demarcate unit: the mapping model utilizing thickness signal initial value and actual (real) thickness set-point to set up between actual (real) thickness and initial value and model parameter, and this mapping model and model parameter are sent to actual value obtaining unit, described actual (real) thickness set-point is what set in advance;
Actual value obtaining unit: thickness signal is currently worth in the mapping model substituting into and demarcating unit acquisition, obtains thickness signal actual value after demarcating.
Useful effect: the climbing robot utilizing mathematical modeling to measure boiler water wall overlay thickness of the present invention, freely can walk along tube wall vertical direction on boiler water wall, gather pipe thickness, and then record tube wear situation offer data for follow-up, there is provided for power plant staff and whether the offer reference of water wall pipe is provided, level of automation height of the present invention, build small volume and less weight.
Accompanying drawing explanation
Fig. 1 is the perspective view of the climbing robot utilizing mathematical modeling to measure boiler water wall overlay thickness of the present invention;
Fig. 2 is A portion enlarged view in Fig. 1;
Fig. 3 is the electrical structure schematic diagram of the climbing robot utilizing mathematical modeling measurement boiler water wall overlay thickness described in invention.
Embodiment
Embodiment one: present embodiment is specifically described referring to figs. 1 through Fig. 3, the mathematical modeling that utilizes described in present embodiment measures the climbing robot of boiler water wall overlay thickness, and it comprises: the wheels of wireless transmission circuit one, upper computer, connection section and two symmetrical structures;
Connection section comprises: vibration damping sheet group, vibration damping sheet bracing frame and leading screw 8;
Vibration damping sheet group is grid shape, and this vibration damping sheet group all can be stretched horizontal and vertical, vibration damping sheet bracing frame comprises the two portions being separated from each other, the two ends of vibration damping sheet group are hinged with two portions of vibration damping sheet bracing frame respectively, for driving, vibration damping sheet group carries out flexible motion to leading screw 8, and two wheels are separately fixed on two portions of vibration damping sheet bracing frame;
Each wheels comprises: compresses wheel back up pad 4, driving mechanism 5, trailing wheel 6, from wheeling supporting frame 7, ultrasonic thickness indicator 9, drive wheel carrier 11, driving chain 12, compression wheel 13, compression wheel shaft 14, wireless transmission circuit two, driven shaft 15, carbon fiber support 16, main drive shaft 17, main wheel 18 and DC servo motor 19, trailing wheel 6 and main wheel 18 to be Electromagnetic wheel;
Compress wheel shaft 14, driven shaft 15 and main drive shaft 17 to be parallel to each other, and compression wheel shaft 14 is positioned at driven shaft 15 and the top of main drive shaft 17, compress wheel 13 and it is fixed on compression wheel shaft 14 end, main wheel 18 is fixed on main drive shaft 17 end, trailing wheel 6 is fixed on driven shaft 15 end, and driving chain 12 is socketed in simultaneously and compresses outside wheel 13, driven shaft 15 and main drive shaft 17;
Carbon fiber support 16 is longitudinally arranged, wheels are fixedly connected with by a part for carbon fiber support 16 with vibration damping sheet bracing frame, wheel carrier 11 is driven to be fixed on the end of carbon fiber support 16, wheel carrier 11 is rotationally connected the first end of main drive shaft 17 with driving, and main drive shaft 17 is mutually vertical with carbon fiber support 16, the first end of carbon fiber support 16 it is fixed on from wheeling supporting frame 7, the first end of driven shaft 15 be rotationally connected from wheeling supporting frame 7, compressing wheel back up pad 4 is fixed on driving wheel carrier 11, the first end compressing wheel shaft 14 is rotationally connected with compression wheel back up pad 4, wireless transmission circuit two and driving mechanism 5 are all fixed on and compress in wheel back up pad 4,
The thickness signal output terminal of ultrasonic thickness indicator 9 connects the thickness signal input terminus of wireless transmission circuit two, the control signal output terminal of wireless transmission circuit two connects the control signal output terminal of driving mechanism 5, the actuate signal output terminal of driving mechanism 5 connects the driving signal input of DC servo motor 19, DC servo motor 19 drives main wheel 18 to rotate by main drive shaft 17, ultrasonic thickness indicator 9 is fixed in carbon fiber support 16, and ultrasonic thickness indicator 9 is for detecting the thickness of water wall tube on water wall;
Realizing wireless data between wireless transmission circuit one and wireless transmission circuit two mutual, the thickness signal output terminal of wireless transmission circuit one connects the thickness signal input terminus of upper computer;
Upper computer comprises with lower unit:
Initial value record cell: gather in real time and record the thickness signal that wireless transmission circuit one obtains, this thickness signal comprises thickness signal initial value and thickness signal is currently worth, and thickness signal initial value is sent to demarcation unit, the thickness signal gathered in real time is currently worth and is sent to actual value obtaining unit;
Demarcate unit: the mapping model utilizing thickness signal initial value and actual (real) thickness set-point to set up between actual (real) thickness and initial value and model parameter, and this mapping model and model parameter are sent to actual value obtaining unit, described actual (real) thickness set-point is what set in advance;
Actual value obtaining unit: thickness signal is currently worth in the mapping model substituting into and demarcating unit acquisition, obtains thickness signal actual value after demarcating.
Realize wireless data between wireless transmission circuit one and wireless transmission circuit two mutual, gather out by overlay thickness signal big area being detected, then by the modeling computing of upper computer, greatly improve and measure accuracy rate, obtain actual (real) thickness value. And then realize the action of Long-distance Control climbing robot, avoid staff to enter burner hearth inner control robot, decrease the workload of staff, also ensure that personal security.
In present embodiment, vibration damping sheet group comprises 2 damping grid, and each damping grid comprises 4 vibration damping sheets 10;2 vibration damping sheet 10 mid points in each damping grid are hinged, two vibration damping sheet ends of a first end of damping grid are hinged with two vibration damping sheet ends of another damping grid head end respectively, the scalable lattice work of this kind of vibration damping sheet group makes vibration damping sheet group can stretch on horizontal and vertical simultaneously, in order to adjust the spacing of two wheels, leading screw 8 is positioned at the longitudinal direction of 2 damping grid, drive vibration damping sheet group longitudinally to stretch, and then make vibration damping sheet group laterally produce expanding-contracting action simultaneously. Vibration damping sheet group can prevent occurring vibrations phenomenon in the process of walking. And vibration damping sheet 10 is elasticity component, can also ensure when water wall is uneven, vibration damping sheet 10 is due to its elasticity generation slight deformation, the all Electromagnetic wheels of robot still can be adsorbed on water cooling tube closely, and can regulate the change of the Thicknesser probe distance pipe surface distance caused because of pipeline bulging deformation.
In the structure of driving chain 12, main wheel 18, trailing wheel 6 and compression wheel shaft 14, when main wheel 18 rotates, drive trailing wheel 6 and compression wheel shaft 14 to rotate by driving chain 12, it is achieved robot ambulation function simultaneously simultaneously.
Each wheels also comprises: compress wheel spring 13, and this compression wheel spring 13 is for for compressing wheel 13 offer buffering. Compress wheel 13, driven shaft 15 and main drive shaft 17 common by driving chain 12 tensioning.
The stage casing of carbon fiber support 16 is provided with thickness tester bracing frame, and ultrasonic thickness indicator 9 and compression wheel back up pad 4 are all fixed on this thickness tester bracing frame. Thickness tester bracing frame is provided with thickness tester clip, for clamping thickness tester so that thickness tester is dismountable structure.
Wireless data is realized mutual between wireless transmission circuit one and wireless transmission circuit two, gather out by the thickness signal detected, then amplify in input curve analyser by amplifier, directly obtain thickness map, data analysis is carried out for just operator, comparer is provided with the standard value of overlay simultaneously, obtain overlay more afterwards and currently it is worth whether conformance with standard, and then realize the action of Long-distance Control climbing robot, staff is avoided to enter burner hearth inner control robot, decrease the workload of staff, also ensure that personal security.
Embodiment two: present embodiment is described further by the climbing robot utilizing mathematical modeling to measure boiler water wall overlay thickness described in embodiment one, in present embodiment, it also comprises: front probe support 1, probe sleeve 2 and rear probe support 3;
Rear probe support 3 is fixed on from, wheeling supporting frame 7, front probe support 1 is popped one's head on support 3 after being fixed on, and probe sleeve 2 is popped one's head on support 1 before being fixed on, and probe sleeve 2 is for supporting the probe of ultrasonic thickness indicator 9.
Embodiment three: present embodiment is described further by the climbing robot utilizing mathematical modeling to measure boiler water wall overlay thickness described in embodiment one, and in present embodiment, the cross section of main wheel 18 and trailing wheel 6 is trapezoidal.
Main wheel 18 and trailing wheel 6 are the primary members driving driving chain 12 to move, and main wheel 18 becomes trapezoidal with the section of trailing wheel 6; Compress the effect that wheel 13 mainly plays tensioning driving chain 12, and when this climbing robot can be made to run into obstacle in the process creeped, play the effect of damping.
Claims (3)
1. utilize mathematical modeling to measure the climbing robot of boiler water wall overlay thickness, it is characterised in that, it comprises: the wheels of wireless transmission circuit one, upper computer, connection section and two symmetrical structures;
Connection section comprises: vibration damping sheet group, vibration damping sheet bracing frame and leading screw (8);
Vibration damping sheet group is grid shape, and this vibration damping sheet group all can be stretched horizontal and vertical, vibration damping sheet bracing frame comprises the two portions being separated from each other, the two ends of vibration damping sheet group are hinged with two portions of vibration damping sheet bracing frame respectively, for driving, vibration damping sheet group carries out flexible motion to leading screw (8), and two wheels are separately fixed on two portions of vibration damping sheet bracing frame;
Each wheels comprises: compression is taken turns back up pad (4), driving mechanism (5), trailing wheel (6), from wheeling supporting frame (7), ultrasonic thickness indicator (9), driven wheel carrier (11), driving chain (12), compression wheel (13), compression wheel shaft (14), wireless transmission circuit two, driven shaft (15), carbon fiber support (16), main drive shaft (17), main wheel (18) and DC servo motor (19), trailing wheel (6) and main wheel (18) to be Electromagnetic wheel;
Compress wheel shaft (14), driven shaft (15) and main drive shaft (17) to be parallel to each other, and compression wheel shaft (14) is positioned at driven shaft (15) and the top of main drive shaft (17), compress wheel (13) and it is fixed on compression wheel shaft (14) end, main wheel (18) is fixed on main drive shaft (17) end, trailing wheel (6) is fixed on driven shaft (15) end, and driving chain (12) is socketed in simultaneously and compresses wheel (13), driven shaft (15) and main drive shaft (17) outside;
Carbon fiber support (16) is longitudinally arranged, wheels are fixedly connected with a part for vibration damping sheet bracing frame by carbon fiber support (16), wheel carrier (11) is driven to be fixed on the end of carbon fiber support (16), wheel carrier (11) is rotationally connected the first end of main drive shaft (17) with driving, and main drive shaft (17) is mutually vertical with carbon fiber support (16), the first end of carbon fiber support (16) it is fixed on from wheeling supporting frame (7), the first end of driven shaft (15) be rotationally connected from wheeling supporting frame (7), compressing wheel back up pad (4) is fixed in driving wheel carrier (11), the first end compressing wheel shaft (14) is rotationally connected with compression wheel back up pad (4), wireless transmission circuit two and driving mechanism (5) are all fixed on and compress on wheel back up pad (4),
The thickness signal output terminal of ultrasonic thickness indicator (9) connects the thickness signal input terminus of wireless transmission circuit two, the control signal output terminal of wireless transmission circuit two connects the control signal output terminal of driving mechanism (5), the actuate signal output terminal of driving mechanism (5) connects the driving signal input of DC servo motor (19), DC servo motor (19) drives main wheel (18) to rotate by main drive shaft (17), ultrasonic thickness indicator (9) is fixed in carbon fiber support (16), ultrasonic thickness indicator (9) is for detecting the thickness of water wall tube on water wall,
Realizing wireless data between wireless transmission circuit one and wireless transmission circuit two mutual, the thickness signal output terminal of wireless transmission circuit one connects the thickness signal input terminus of upper computer;
Upper computer comprises with lower unit:
Initial value record cell: gather in real time and record the thickness signal that wireless transmission circuit one obtains, this thickness signal comprises thickness signal initial value and thickness signal is currently worth, and thickness signal initial value is sent to demarcation unit, the thickness signal gathered in real time is currently worth and is sent to actual value obtaining unit;
Demarcate unit: the mapping model utilizing thickness signal initial value and actual (real) thickness set-point to set up between actual (real) thickness and initial value and model parameter, and this mapping model and model parameter are sent to actual value obtaining unit, described actual (real) thickness set-point is what set in advance;
Actual value obtaining unit: thickness signal is currently worth in the mapping model substituting into and demarcating unit acquisition, obtains thickness signal actual value after demarcating.
2. the climbing robot utilizing mathematical modeling to measure boiler water wall overlay thickness according to claim 1, it is characterized in that, it also comprises: front probe support (1), probe sleeve (2) and rear probe support (3);
Rear probe support (3) is fixed on from wheeling supporting frame (7), front probe support (1) is popped one's head on support (3) after being fixed on, probe sleeve (2) is popped one's head on support (1) before being fixed on, and probe sleeve (2) is for supporting the probe of ultrasonic thickness indicator (9).
3. the climbing robot utilizing mathematical modeling to measure boiler water wall overlay thickness according to claim 1, it is characterised in that, the cross section of main wheel (18) and trailing wheel (6) is trapezoidal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510962776.6A CN105644640B (en) | 2015-12-18 | 2015-12-18 | The climbing robot of boiler water wall overlay thickness is measured using mathematical modeling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510962776.6A CN105644640B (en) | 2015-12-18 | 2015-12-18 | The climbing robot of boiler water wall overlay thickness is measured using mathematical modeling |
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| Publication Number | Publication Date |
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| CN105644640A true CN105644640A (en) | 2016-06-08 |
| CN105644640B CN105644640B (en) | 2017-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510962776.6A Active CN105644640B (en) | 2015-12-18 | 2015-12-18 | The climbing robot of boiler water wall overlay thickness is measured using mathematical modeling |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106949804A (en) * | 2017-05-10 | 2017-07-14 | 舟山市质量技术监督检测研究院 | A kind of device for vertical metal tank solid measure |
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| JPH06297006A (en) * | 1993-04-14 | 1994-10-25 | Nippon Steel Corp | Wide flange shape high in dimensional accuracy and its manufacture and manufacturing device |
| US7155307B2 (en) * | 2001-09-09 | 2006-12-26 | Seemann Henry R | Surface adhering tool carrying robot |
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| CN106949804A (en) * | 2017-05-10 | 2017-07-14 | 舟山市质量技术监督检测研究院 | A kind of device for vertical metal tank solid measure |
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| Publication number | Publication date |
|---|---|
| CN105644640B (en) | 2017-10-20 |
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Address after: No.1, 4th floor, unit 1, Longyue building, Hongqi Street, Nangang concentration District, Harbin Economic Development Zone, Heilongjiang Province Patentee after: Harbin Keneng Cladding Technology Co., Ltd Address before: 150040 Heilongjiang province Harbin city Xiangfang province music pine square Patentee before: HARBIN KENENG CLADDING TECHNOLOGY Co.,Ltd. |
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Denomination of invention: Wall climbing robot for measuring cladding thickness of boiler water wall by mathematical modeling Effective date of registration: 20201228 Granted publication date: 20171020 Pledgee: Harbin Kechuang Financing Guarantee Co., Ltd Pledgor: Harbin Keneng Cladding Technology Co., Ltd Registration number: Y2020230000021 |
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Date of cancellation: 20211124 Granted publication date: 20171020 Pledgee: Harbin Kechuang Financing Guarantee Co., Ltd Pledgor: Harbin Keneng Cladding Technology Co., Ltd Registration number: Y2020230000021 |
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