CN108839723B - Pole climbing device and pole climbing method thereof - Google Patents
Pole climbing device and pole climbing method thereof Download PDFInfo
- Publication number
- CN108839723B CN108839723B CN201810948891.1A CN201810948891A CN108839723B CN 108839723 B CN108839723 B CN 108839723B CN 201810948891 A CN201810948891 A CN 201810948891A CN 108839723 B CN108839723 B CN 108839723B
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- climbing
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- rocker
- rod
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- 230000009194 climbing Effects 0.000 title claims abstract description 115
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 230000001360 synchronised effect Effects 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 19
- 238000013016 damping Methods 0.000 claims description 7
- 230000009975 flexible effect Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 6
- 230000035939 shock Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003631 expected effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
Abstract
The invention discloses a pole climbing device, which comprises two annular frames and a fastening connecting rod mechanism, wherein a plurality of ball screws are arranged between the two annular frames, a synchronous transmission belt is connected between the adjacent ball screws, ball sliding blocks are arranged on the ball screws in a matching way, and a main driving mechanism for driving the ball screws to rotate is arranged on the annular frames; each fastening connecting rod mechanism comprises a crank, a connecting rod and two rockers, wherein the two rockers are provided with climbing wheels and a climbing wheel driving motor for driving the climbing wheels to rotate on the end parts, which are directed to the inner sides of the annular frames. The invention can be suitable for rod pieces with various diameters, and the rod pieces with the same diameter only need to be clamped once, so that the rod climbing efficiency is high; the invention has simple and novel structure, simple operation, high automation degree, flexible action and easy realization. The invention also provides a pole climbing method based on the pole climbing device, which has simple steps and can realize high-efficiency pole climbing operation by matching with the pole climbing device.
Description
Technical Field
The invention relates to the technical field of maintenance equipment, in particular to a pole climbing device and a pole climbing method thereof.
Background
The large-scale pole, axle class spare part are used in heavy industry field more, and this kind of spare part multi-purpose casting mode processing, and in case the live time is longer, easily suffer corrosion, pitting, crackle, wearing and tearing etc. and destroy, the result that leads to is light then influences production, endangers workman's life safety seriously. Therefore, in the field of industrial production, it becomes important to detect and exclude surface damage of shaft parts in time.
The existing detection is mainly two, namely, one is that a worker sends the worker to a rod piece (comprising rod type, shaft type and other parts) to detect the position by means of an escalator, a climbing vehicle and the like, the worker directly or by using a detection device (comprising a flaw detection probe, a camera and the like), and the other is that the worker sends some detection devices to the rod piece to detect the position by means of a telescopic rod or some pole-climbing robots and the like, and then the detection is carried out by the detection device. The first mode requires staff to ascend, has certain danger and requires certain space; the second mode requires auxiliary devices, is greatly limited by the working environment, carrying capacity and the size of the measured rod, and is difficult to achieve the expected effect.
Disclosure of Invention
In order to overcome the defects, the invention provides a pole climbing device.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the pole climbing device comprises two annular frames and a fastening connecting rod mechanism, wherein a plurality of ball screws are arranged between the two annular frames, a synchronous transmission belt is connected between the adjacent ball screws, ball sliding blocks are arranged on the ball screws in a matching manner, and a main driving mechanism for driving the ball screws to rotate is arranged on the annular frames; the number of the fastening connecting rod mechanisms is the same as that of the ball screws, each fastening connecting rod mechanism comprises a crank, a connecting rod and two rocking rods, in the same fastening connecting rod mechanism, the middle parts of the two rocking rods are respectively connected with the annular frame in a rotating mode, two ends of the connecting rod are respectively hinged to two rocking rods at the end parts of the outer sides of the annular frame, one end of each crank is hinged to one ball sliding block, the other end of each crank is hinged to one rocking rod, and climbing wheels and climbing wheel driving motors used for driving the climbing wheels to rotate are arranged at the end parts of the inner sides of the annular frame.
Further, the main driving mechanism comprises a main driving motor and a driving transmission belt, the main driving motor is fixedly arranged on the annular frame, and an output shaft of the main driving motor is connected with one ball screw through the driving transmission belt.
Further, gaps are formed in the circumferential directions of the two annular frames.
Further, two shock absorbing sliding blocks are arranged on each ball screw, and the two shock absorbing sliding blocks are respectively located on the upper side and the lower side of the ball sliding blocks and connected with the ball sliding blocks through springs.
Further, a detection device is arranged on the annular frame.
Further, the annular frame is provided with a rotating part, the rotating part comprises a rotating motor, a rotating gear, an arc-shaped rack and a limiting support part, the limiting support part is fixedly arranged on the annular frame, the circle center of the circumference where the arc-shaped rack is arranged is overlapped with the circle center of the circumference where the annular frame is arranged, the arc-shaped rack is arranged on the limiting support part and can rotate on the limiting support part, the rotating gear is arranged on an output shaft of the rotating motor, the rotating gear is meshed with the arc-shaped rack, and the detecting device is arranged on the arc-shaped rack.
The invention also provides a pole climbing method of the pole climbing device, which comprises the following steps:
1) The pole climbing device is arranged on the periphery of a pole climbing piece to be climbed, and at the moment, each rocker is in a loosening state;
2) Controlling the main driving mechanism to enable each rocker and the climbing wheel on each rocker to clamp a rod piece to be climbed;
3) Controlling the climbing wheel driving motor to drive the climbing wheel to rotate so that the pole climbing device moves in the axial direction of the pole climbing piece to be climbed;
4) When the climbing rod device climbs to a preset position, the climbing wheel driving motor is turned off, the climbing wheel stops rotating at the moment, and the climbing rod device stays on the rod piece; when climbing is finished, the main driving mechanism is controlled to enable each rocker and the climbing wheel on each rocker to loosen the rod piece, and the rod climbing device can be removed at the moment.
Compared with the prior art, the invention has the beneficial effects that: the invention discloses a pole climbing device which can be suitable for pole pieces with various diameters; the pole climbing device only needs to clamp the pole pieces with the same diameter once, and has high pole climbing efficiency; the pole climbing device has the advantages of simple and novel structure, simple operation, high automation degree, flexible action and easy realization. The invention also provides a pole climbing method based on the pole climbing device, which has simple steps and can realize high-efficiency pole climbing operation by matching with the pole climbing device.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the description of the embodiments will be briefly described below.
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the construction and installation of a main drive unit according to the present invention;
FIG. 3 is a schematic view of a fastening linkage mechanism according to the present invention;
fig. 4 is a schematic view (part) of the structure and installation of the rotary member of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 4, a preferred embodiment of the present invention provides a pole climbing device, which includes two ring frames 1 and a fastening link mechanism 12, wherein the ring frames 1 are arranged up and down, five ball screws 4 are arranged between the two ring frames 1, two ends of each ball screw 4 are rotatably connected with the ring frames 1 through bearings, a synchronous transmission belt 11 is connected between adjacent ball screws 4, ball sliders 3 are arranged on the ball screws 4 in a matching manner, and a main driving mechanism 6 for driving the ball screws 4 to rotate is arranged on the ring frames 1; the number of the fastening link mechanisms 12 is the same as that of the ball screws 4, each fastening link mechanism 12 comprises a crank 1202, a connecting rod 1203 and two rockers 1201, in the same fastening link mechanism 12, the middle parts of the two rockers 1201 are respectively in rotary connection with a lug 17 on the annular frame 1 in a pin shaft mode, two ends of the connecting rod 1203 are respectively hinged with the end parts of the two rockers 1201 pointing to the outer side of the annular frame 1, one end of the crank 1202 is hinged with the ball slide block 3, the other end of the crank 1202 is hinged with one of the rockers 1201, and the end parts of the two rockers 1201 pointing to the inner side of the annular frame 1 are provided with climbing wheels 5 and climbing wheel driving motors 9 for driving the climbing wheels 5 to rotate.
In practice, the main driving mechanism 6 drives one ball screw 4 to rotate, the other four ball screws 4 rotate together under the action of the synchronous transmission belt 11, the ball screw 4 rotates, the ball slider 3 moves along the axial direction of the ball screw 4 (the moving direction depends on the rotating direction of the ball screw 4 and the arrangement of the ball slider 3), at this time, the rocker 1201 rotates around the bump 17 on the annular frame 1, so that the rocker 1201 points to the end part on the inner side of the annular frame 1 and the climbing wheel 5 to do gathering or scattering motion, when the rocker 1201 points to the end part on the inner side of the annular frame 1 and the climbing wheel 5 to do gathering motion, the rocker can be used for clamping a rod, when the rocker 1201 points to the end part on the inner side of the annular frame 1 and the climbing wheel 5 to do scattering motion, and can be used for loosening the rod, in particular, referring to the preferred embodiment shown in fig. 1, when the main driving mechanism 6 drives the ball screw 4 to move so as to enable the ball slider 3 to move, and drive the crank 1202 to move, and when the crank 1202 rotates as a nearly horizontal state, the rocker 1201 points to the end part on the inner side of the annular frame 1 and the climbing wheel 5 to do gathering or scattering motion, and the rocker 1201 points to the inner side of the annular frame 1201 and the inner side of the annular frame is made to the annular state and the climbing wheel 1201 moves as a horizontally when the end part is made to the inner side of the climbing wheel and the climbing wheel is turned. The ends of the two rockers 1201 directed to the outside of the ring frame 1 are hinged to the two ends of the link 1203, respectively, and thus the rotation of the rockers 1201 is uniform by the timing belt 11 and the link 1203. In the manner described above, the clamping or unclamping of the pole by the pole climbing device can then be achieved by tightening the linkage 12.
After the rod piece is clamped by the fastening connecting rod mechanism 12, the climbing wheel driving motor 9 is started to drive the climbing wheel 5 to rotate, and the climbing wheel 5 can climb the climbing device in the axial direction of the rod piece. Different directions of climbing wheels 5 can realize different directions of climbing of the climbing device.
As a preferred embodiment, referring to fig. 2, the main driving mechanism 6 includes a main driving motor 61 and a driving belt 62, the main driving motor 61 is fixedly disposed on the annular frame 1 through a motor base 63, and an output shaft of the main driving motor 61 is connected to one of the ball screws 4 through the driving belt 62. The main driving motor 61 runs, and drives one ball screw 4 to rotate through the driving transmission belt 62, and the other four ball screws 4 synchronously rotate under the action of the synchronous transmission belt 11, so that the rod climbing device clamps or loosens the rod piece. It is noted that in the present preferred embodiment, the total number of the ball screws 4 is five, and in other preferred embodiments, the number of the ball screws 4 may be other, so that the fewer the number of the ball screws 4 is, the better the clamping of the rod member can be achieved.
Further, a notch is formed on the same side of the two annular frames 1 in the circumferential direction, so that the pole climbing device can be conveniently placed on the periphery of the rod piece through the notch.
Referring to fig. 1, each ball screw 4 is provided with two damping sliders 2, and the two damping sliders 2 are respectively located at the upper side and the lower side of the ball slider 3 and connected with the ball slider 3 through springs 14. The main driving motor 61 is started to control the ball screw 4 to rotate, the ball sliding block 3 slides on the ball screw 4, two ends of the ball sliding block 3 are connected with the damping sliding block 2 through the springs 14, the damping sliding block 2 also slides along with the ball sliding block, so that the ball sliding block 3 is prevented from being concentrated in stress, and the springs 14 play a role in buffering and shock absorption. The damping slide block 2 and the spring 14 are arranged, so that the ball slide block 3 is fastened to the connecting rod mechanism 12 to operate, the climbing wheels 5 clamp the climbing rod, and after the radius of the circumference formed by the plurality of climbing wheels 5 is consistent with that of the climbing rod, the main driving motor 61 is turned off, so that slipping is avoided, and enough clamping force for the rod piece can be provided.
The pole climbing device further comprises a detection device 10, and the detection device 10 is arranged on the annular frame 1. The detection device 10 is a common detection device such as an ultrasonic sensor, an industrial camera or a flaw detection probe, and is used for detecting a rod. In practice, the rod-climbing device can realize the detection of the rod through the detection device 10 when climbing to the position to be detected on the rod. Preferably, referring to fig. 4, a rotating part is provided on the annular frame 1, the rotating part includes a rotating motor 15, a rotating gear 8, an arc rack 7 and a limiting support portion 16, the limiting support portion 16 is an arc guide rail, and is fixedly arranged on the annular frame 1, the circle center of the circumference of the arc rack 7 overlaps with the circle center of the circumference of the annular frame 1, a chute is provided at the bottom of the arc rack 7, the arc rack 7 is installed on the limiting support portion 16 in a matching manner through the chute, and can rotate around the limiting support portion 16, the rotating motor 15 is fixedly arranged on the annular frame 1, the rotating gear 8 is arranged on an output shaft of the rotating motor 15, the rotating gear 8 is meshed with the arc rack 7, and the detecting device 10 is arranged on the arc rack 7. The rotating motor 15 drives the rotating gear 8 to drive the arc-shaped rack 7, the arc-shaped rack 7 circumferentially rotates, and the detecting device 10 arranged on the arc-shaped rack 7 circumferentially detects the rod piece. The climbing of pole-climbing device on the member and the rotation of arc rack 7 do not interfere with each other, and detection device 10 can realize the axial and the circumference detection to the member simultaneously promptly, and detection efficiency is high.
The invention also provides a pole climbing method of the pole climbing device, which comprises the following steps:
1) The pole climbing device is arranged on the periphery of the pole climbing piece to be climbed, and at the moment, each rocker 1201 is in a loosening state; in the invention, when each rocker 1201 is in a released state, the radius of the circumference formed by the climbing wheel 5 on each rocker 1201 is larger than the radius of the rod to be climbed, so that the rod climbing device can be placed on the periphery of the rod climbing device;
2) The main driving mechanism 6 is controlled to enable the climbing wheels 5 on the rocking rods 1201 to clamp the rod to be climbed; the method comprises the following steps: the main driving mechanism 6 drives the ball screw 4 to rotate so as to enable the ball sliding block 3 to move, the crank 1202 is driven to move, the crank 1202 drives the rocker 1201 to rotate, the crank 1202 rotates to rotate in a state of approaching to the horizontal, the rocker 1201 points to the end part of the inner side of the annular frame 1 and the climbing wheels 5 to do gathering movement, and after the radius of the circumference formed by the plurality of climbing wheels 5 (the radius of the circumference of the inner ring) is consistent with the radius of the climbing rod, the clamping of the rod piece to be climbed is realized, and at the moment, the main driving mechanism 6 is closed;
3) The climbing wheel driving motor 9 is controlled to drive the climbing wheel 5 to rotate so that the pole climbing device moves in the axial direction of the pole to be climbed;
4) When the climbing device climbs to a preset position, the climbing wheel driving motor 9 is turned off, the climbing wheel 5 stops rotating at the moment, and the climbing device stays on the rod piece; when climbing is finished, the main driving mechanism 6 is controlled to enable each rocker 1201 and the climbing wheel 5 on each rocker 1201 to loosen the rod piece, specifically: the main driving mechanism 6 drives the ball screw 4 to rotate so that the ball sliding block 3 moves, the crank 1202 is driven, the crank 1202 moves to drive the rocker 1201 to rotate, the crank 1202 rotates to rotate in a gradually-away horizontal state, the rocker 1201 points to the end part of the inner side of the annular frame 1 and the climbing wheel 5 performs scattering movement, the climbing wheel 5 is loosened from the rod piece, and the climbing rod device can be taken down at the moment.
The pole climbing device disclosed by the invention can be suitable for pole pieces with various diameters; the rod pieces with the same diameter are clamped only once, so that the rod climbing efficiency is high; the pole climbing device has the advantages of simple and novel structure, simple operation, high automation degree, flexible action and easy realization.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. The utility model provides a pole-climbing device, is including ring frame (1) and fastening link mechanism (12), its characterized in that: the device comprises two annular frames (1), a plurality of ball screws (4) are arranged between the two annular frames (1), synchronous transmission belts (11) are connected between the adjacent ball screws (4), ball sliding blocks (3) are arranged on the ball screws (4) in a matching mode, two damping sliding blocks (2) are arranged on each ball screw (4), and the two damping sliding blocks (2) are respectively located on the upper side and the lower side of the ball sliding blocks (3) and connected with the ball sliding blocks (3) through springs (14); the annular frame (1) is provided with a main driving mechanism (6) for driving the ball screw (4) to rotate, the main driving mechanism (6) comprises a main driving motor (61) and a driving transmission belt (62), the main driving motor (61) is fixedly arranged on the annular frame (1), and an output shaft of the main driving motor (61) is connected with one ball screw (4) through the driving transmission belt (62); the number of the fastening link mechanisms (12) is the same as that of the ball screws (4), each fastening link mechanism (12) comprises a crank (1202), a connecting rod (1203) and two rockers (1201), the two rockers (1201) are respectively connected with the annular frame (1) in a rotating mode in the same fastening link mechanism (12), two ends of each connecting rod (1203) are respectively hinged to two ends, pointing to the outer side of the annular frame (1), of each rocker (1201), one end of each crank (1202) is hinged to the corresponding ball slider (3), the other end of each crank is hinged to one rocker (1201), and climbing wheels (5) and climbing wheel driving motors (9) used for driving the corresponding climbing wheels (5) to rotate are arranged on the end, pointing to the inner side of the annular frame (1), of each rocker (1201).
2. The pole-climbing device according to claim 1, wherein: gaps are formed in the circumferential directions of the two annular frames (1).
3. The pole-climbing device according to claim 1, wherein: the annular frame (1) is provided with a detection device (10).
4. A pole-climbing device according to claim 3, wherein: be provided with rotating member on ring frame (1), rotating member is including rotating motor (15), rotation gear (8), arc rack (7) and spacing supporting part (16), spacing supporting part (16) fixed set up in on ring frame (1), the centre of a circle at arc rack (7) place circumference with the centre of a circle at ring frame (1) place circumference overlaps, arc rack (7) set up in on spacing supporting part (16) and can rotate on spacing supporting part (16), rotation motor (15) fixed set up in on ring frame (1), rotation gear (8) set up in on the output shaft of rotation motor (15), rotation gear (8) with arc rack (7) meshing is connected, detection device (10) set up in on arc rack (7).
5. A pole-climbing method of a pole-climbing device according to any one of claims 1 to 4, comprising the steps of:
1) Placing the pole climbing device on the periphery of a pole climbing piece to be climbed, wherein each rocker (1201) is in a loosening state;
2) Controlling the main driving mechanism (6) to enable each rocker (1201) and the climbing wheel (5) on each rocker (1201) to clamp a rod piece to be climbed;
3) Controlling the climbing wheel driving motor (9) to drive the climbing wheel (5) to rotate so that the pole climbing device moves in the axial direction of a pole to be climbed;
4) When the climbing rod device climbs to a preset position, the climbing wheel driving motor (9) is turned off, the climbing wheel (5) stops rotating at the moment, and the climbing rod device stays on the rod piece; when climbing is finished, the main driving mechanism (6) is controlled to enable each rocker (1201) and the climbing wheel (5) on each rocker (1201) to loosen the rod piece, and the rod climbing device can be removed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810948891.1A CN108839723B (en) | 2018-08-20 | 2018-08-20 | Pole climbing device and pole climbing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810948891.1A CN108839723B (en) | 2018-08-20 | 2018-08-20 | Pole climbing device and pole climbing method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108839723A CN108839723A (en) | 2018-11-20 |
| CN108839723B true CN108839723B (en) | 2023-10-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810948891.1A Active CN108839723B (en) | 2018-08-20 | 2018-08-20 | Pole climbing device and pole climbing method thereof |
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| Country | Link |
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| CN (1) | CN108839723B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109572842B (en) * | 2018-12-12 | 2020-12-04 | 杭州申昊科技股份有限公司 | Pole-climbing mechanism, pole-climbing intelligent inspection robot and pole-climbing method of transformer substation |
| CN109696483B (en) * | 2018-12-30 | 2021-06-01 | 河海大学 | Ultrasonic detection auxiliary device based on penetration method |
| CN109572847B (en) * | 2019-01-15 | 2023-07-28 | 北京史河科技有限公司 | Climbing device, climbing equipment and climbing system |
| CN110271621B (en) * | 2019-08-07 | 2021-10-01 | 国网安徽省电力有限公司电力科学研究院 | Obstacle-crossing pole climbing device and pole climbing method thereof |
| CN112606923B (en) * | 2020-12-14 | 2023-06-23 | 中国科学院沈阳自动化研究所 | Insulator connecting rod crawling mechanism |
| CN113511280B (en) * | 2021-07-05 | 2022-11-29 | 中国矿业大学 | Steel wire rope climbing robot |
| CN114655332B (en) * | 2022-05-11 | 2023-02-03 | 南京工程学院 | Spiral climbing robot for wind power generation tower |
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| US7797781B2 (en) * | 2007-06-11 | 2010-09-21 | Korea Electric Power Corporation | Robot mechanism for cleaning and inspection of live-line insulators |
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| CN102507750A (en) * | 2011-11-02 | 2012-06-20 | 中国农业大学 | Ultrasonic flaw detection scanning frame of porcelain post insulator |
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|---|---|
| CN108839723A (en) | 2018-11-20 |
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