CN109545404A - A kind of automatic detection device for nuclear power CV container butt weld ray detection - Google Patents
A kind of automatic detection device for nuclear power CV container butt weld ray detection Download PDFInfo
- Publication number
- CN109545404A CN109545404A CN201811265799.1A CN201811265799A CN109545404A CN 109545404 A CN109545404 A CN 109545404A CN 201811265799 A CN201811265799 A CN 201811265799A CN 109545404 A CN109545404 A CN 109545404A
- Authority
- CN
- China
- Prior art keywords
- axis
- film
- fixed
- ray machine
- cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/003—Remote inspection of vessels, e.g. pressure vessels
- G21C17/007—Inspection of the outer surfaces of vessels
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/003—Remote inspection of vessels, e.g. pressure vessels
- G21C17/01—Inspection of the inner surfaces of vessels
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/003—Remote inspection of vessels, e.g. pressure vessels
- G21C17/013—Inspection vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention belongs to nuclear power generating equipments to install detection technique field.For efficiency when improving to nuclear power CV container progress butt weld ray detection and the personal safety of operator is protected, the invention discloses a kind of automatic detection devices for nuclear power CV container butt weld ray detection.The automatic detection device, it can be along the tile robot cell and Ray machine people's unit that CV wall surface of the container is creeped by setting, and in advance by film storage in tile robot cell, X-ray machine X is fixed in Ray machine people's unit, thus in the piecewise moving process of tile robot cell and Ray machine people unit along weld seam, film is taken out one by one by manipulator and is laid on position while welding to be detected, ray detection is carried out by X-ray machine X simultaneously, to complete the detection to butt weld in CV container, detection efficiency is not only increased in this way, and the personal safety improved to operator is protected.
Description
Technical field
The invention belongs to nuclear power generating equipments to install detection technique field, and in particular to one kind is used for nuclear power CV container butt weld
The automatic detection device of ray detection.
Background technique
Nuclear power CV container uses low-alloy high-strength steel, and thickness is larger, and when welding hardens, and cold cracking inclination is big, therefore Welder
Skill is complicated, the Dangerous defects such as easy cracked, lack of penetration, incomplete fusion, according to ASME NE fascicle requirement of volume III, needs to all
Butt weld carries out 100% radiological survey X.
Currently, in the operation of weld radiographic inspection detection, the main method for using artificial detection.At this point, early period need to be
A large amount of preliminary preparations are carried out at corresponding position while welding, such as scribing line positioning, monolithic film are laid with, the installation of X-ray machine X is fixed
Etc. preparations, and to everywhere weld seam ray detection after, operator need to enter scene from area of isolation and remove
Then the film carries out the patch of the next position welded seam area and rearranges the work such as fixed to the position of X-ray machine X.
However, not only needing operator previously according to weldering when carrying out weld seam ray detection using above-mentioned manual method
Length and film size are stitched, the laying scribing line positioning of film is carried out, and during ray detection, primary emission can only be transmitted
One film, during this period operator need repeatedly from area of isolation enter scene carry out tile, take up and to X-ray machine X into
Line position sets the work such as adjustment, to greatly increase the workload of operator, leads to the reduction for entirely detecting working efficiency.
Further, since ray has very strong ionising radiation in ray detection, radiation protection difficulty is big, although operator
It will do it necessary radiation protection when entering and detecting scene, but enter detection scene and every time into inspection repeated multiple times
The scene of survey is entered soon after completing radiation, still can bring seriously threaten to the life security of operator in this way, shadow
Ring the personal safety of operator.
Summary of the invention
In order to improve to nuclear power CV container carry out butt weld ray detection when efficiency and to the person of operator
Safeguard protection, the invention proposes a kind of automatic detection devices for nuclear power CV container butt weld ray detection.This is automatic
Detection device, including tile robot cell and Ray machine people's unit, and the tile robot cell and the ray
Robot cell is located at the interior outside of CV container；
The tile robot cell, including first base, piece storehouse and manipulator；Wherein, the first base absorption is solid
It is scheduled on CV wall surface of the container, and can be moved back and forth along weld seam to be detected；Described storehouse is fixed in the first base,
And a large amount of films are stored in described storehouse；The manipulator is fixed in the first base, is used for from described storehouse
It middle taking-up film and is laid on position while welding to be detected and exposed film is put into described storehouse and store；
The Ray machine people unit, including second base, ray machine support and X-ray machine X；Wherein, the second base
It is absorbed and fixed at CV wall surface of the container, and can be moved back and forth along weld seam to be detected；One end of the ray machine support with
The second base connection, the other end connect with the X-ray machine X, the X-ray machine X are supported and fixed in the second base.
Preferably, described storehouse is sliding cover type body structure, including warehouse, warehouse lid and warehouse lid cylinder；Wherein, the warehouse
For upper opening structure, and the warehouse lid is located at the upper opening position of the warehouse；The cylinder part of the warehouse lid cylinder and institute
It states warehouse to be fixedly connected, the extension end of the warehouse lid cylinder is connect with the warehouse lid；The warehouse lid cylinder drives the warehouse lid past
Multiple sliding, carries out opening and closing control to the upper opening of the warehouse.
It is further preferred that described storehouse, further includes slot；The slot is rack-shaped structure and is located at the warehouse
Internal sidewall locations, the inserting for film position.
It is process it is further preferred that the side wall of the warehouse and the warehouse lid are all made of stereotype material.
Preferably, the manipulator using three axle robert and is fixed on the first base by manipulator support
On, the manipulator includes X-axis manipulator unit, Y-axis manipulator unit and Z axis manipulator unit；Z axis is directed toward CV container center
Axis, X-axis and Y-axis are located on CV container in the section of position while welding to be detected, and X-axis is parallel to CV container center axis；
Wherein,
X-axis manipulator unit, including X-axis servo motor, X-axis ball-screw and X-axis linear slider；The X-axis ball wire
Thick stick is located on the manipulator support and connect with the X-axis servo motor, the X-axis linear slider and X-axis ball screw
Parallel arrangement, and by connecting plate and X-axis ball screw cooperation one, to realize the straight reciprocating motion of X-axis linear slider；
Y-axis manipulator unit, including Y-axis mounting plate, Y-axis servo motor, Y-axis ball-screw, Y-axis linear slider and film
Pick and place cleft hand；The Y-axis mounting plate is fixed in the X-axis linear slider, and the Y-axis ball-screw is located at Y-axis installation
It the upper surface of plate and is connect with the Y-axis servo motor, the Y-axis linear slider and Y-axis ball screw are arranged in parallel, and lead to
Connecting plate and Y-axis ball screw cooperation one are crossed, to realize the straight reciprocating motion of Y-axis linear slider；The film picks and places
Cleft hand is fixed on the lower surface of the Y-axis mounting plate, for carrying out loading or unloading operation to the film in described storehouse；
Z axis manipulator unit, including Z axis mounting plate, Z axis servo motor, Z axis servo electric cylinders and film are laid with handgrip；Institute
It states Z axis mounting plate to be fixed in the Y-axis linear slider, the cylinder part of the Z axis servo electric cylinders is vertically fixed along Z-direction
On the Z axis mounting plate and the extension end of the Z axis servo electric cylinders passes through the Z axis mounting plate and is directed toward CV wall surface of the container,
The Z axis servo motor connect with the Z axis servo electric cylinders and the extension end of the Z axis servo electric cylinders is driven to carry out flexible move
Make；The film is laid with the extension end that handgrip is located at the Z axis servo electric cylinders, for the film to be picked and placed to the film on cleft hand
It is laid on position while welding to be detected.
It is further preferred that it includes fixed plate, displacement cylinder, oscillating cylinder and pneumatic clamper that the film, which picks and places cleft hand,；Wherein,
The displacement cylinder is fixed on the Y-axis mounting plate along Z axis, and the oscillating cylinder is fixed on the stretching of the displacement cylinder
End, the fixed plate are located at below the Y-axis mounting plate and arrange along the y axis, and one end and the oscillating cylinder are stretched
Outlet connection, the pneumatic clamper are connect with the fixed plate.
It is further preferred that film picks and places cleft hand, it further include evacuation cylinder, the evacuation cylinder is fixed on along the y axis
In the fixed plate, and the pneumatic clamper is fixed on the extension end of the evacuation cylinder.
It is further preferred that film is laid with handgrip, including mounting plate, back screen stereotype and vacuum chuck；The mounting plate hangs down
It is directly fixed on the extension end of the Z axis servo electric cylinders, the back screen stereotype is located at the lower surface of the mounting plate, and the vacuum is inhaled
Disk is located on the mounting plate.
Preferably, the Ray machine people unit further includes vertical push rod；The X-ray machine X and the ray machine support it
Between pass through line slide rail connect；One end of the vertical push rod is fixedly connected with the second base, the other end and the ray
Machine connection.
Preferably, the automatic detection device further includes smart camera and telltale mark band；The smart camera is fixed on institute
It states in first base and the second base；The telltale mark band is fixed on CV vessel surface, and institute along weld seam to be detected
Telltale mark band is stated equipped with station location marker, for identifying and positioning for the smart camera.
When carrying out ray detection to butt weld in nuclear power CV container using automatic detection device of the invention, have following
The utility model has the advantages that
It 1, in the present invention, can be along the tile robot cell and Ray machine people that CV wall surface of the container is creeped by setting
Unit is wherein equipped with the piece storehouse for storing film in advance and the manipulator for picking and placing film, is penetrating in tile robot cell
X-ray machine X is equipped in line robot cell.At this point, by PLC control system or other control system to tile robot cell and
The movement of Ray machine people's unit carries out automation control or operates control by operator's progress remote handle, makes tile machine
People's unit and Ray machine people unit take film during being moved paragraph by paragraph along weld seam, by manipulator one by one
Out and it is laid on position while welding to be detected, while radiation detection is carried out by X-ray machine X, and the film after exposure is temporarily deposited
Storage to realize the automatic detection to butt weld in CV container, and is sequentially completed the detection of entire weld seam in piece storehouse.This
Sample not only eliminates operator's operation that progress film in entrance radiation scene is replaced one by one repeatedly and to X-ray machine X radial location
The operation adjusted repeatedly improves the efficiency of detection to reduce manpower consumption, and greatly reduce simultaneously operator into
Number and the time for entering radiation scene, to improve the personal safety of operator.
2, it in the present invention, by being three axle robert structure by manipulator design, is rolled by motor, cylinder and X-axis
The driving guiding role of ballscrew, Y-axis ball-screw and Z axis servo electric cylinders is realized and picks and places cleft hand and film laying pawl to film
Change in spatial displacement.In this way, not only can be by X-axis ball-screw, Y-axis ball-screw and Z axis servo electric cylinders
Straight-line trajectory, improves film and picks and places cleft hand and film and be laid with pawl moving process and speed when stopping and accurate in space
Degree, and the structure design and control design case of three axle robert are simpler, convenient for the fabrication design and software control of hardware
Exploitation optimization.
3, in the present invention, by setting smart camera and positioning identifier band, by smart camera to positioning identifier band
Identification realizes that tile robot cell and the accurate mobile and accurate of Ray machine people's unit stop, to further increase paving
The automation and precision of piece robot cell and Ray machine people's unit execution movement, improve the efficiency and matter to weld seam detection
Amount.
Detailed description of the invention
Fig. 1 is the present embodiment for the automatic detection device of nuclear power CV container butt weld ray detection and the company of CV container
Connect schematic diagram；
Fig. 2 is the structural schematic diagram of tile robot cell in Fig. 1；
Fig. 3 is the structural schematic diagram of Ray machine people's unit in Fig. 1；
Fig. 4 is the structural schematic diagram after the warehouse lid in piece storehouse in Fig. 2 is opened；
Fig. 5 is the structural schematic diagram of slot in Fig. 4；
Fig. 6 is the schematic diagram that piece storehouse cylinder is connect with bottom plate and mounting base in the present embodiment；
Fig. 7 is the schematic diagram that manipulator is connect with manipulator support in the present embodiment；
Fig. 8 is the partial structural diagram that Y-axis manipulator unit is connected with Z axis manipulator unit in Fig. 7；
Schematic diagram when Fig. 9 is tile robot cell progress film laying in the present embodiment；
Figure 10 is the appearance schematic diagram of positioning identifier band in the present embodiment.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawings and examples.
As shown in connection with fig. 1, the present embodiment is used for the automatic detection device of nuclear power CV container butt weld ray detection, including
Tile robot cell 1 and Ray machine people unit 2.Tile robot cell 1 and Ray machine people unit 2 are located at CV appearance
Inside and outside device 3 and position is corresponding.
As shown in connection with fig. 2, tile robot cell 1, including first base 11, piece storehouse 12 and manipulator 13.Wherein, first
Pedestal 11 is absorbed and fixed at CV wall of a container face, and can move back and forth in CV vessel surface along weld seam to be detected.Piece
Storehouse 12 is fixed in first base 11, and a large amount of films are stored in piece storehouse 12, for using when ray detection.Manipulator
13 are fixed in first base 11, for the taking-up film from piece storehouse 12 and are laid on position while welding to be detected and will expose
Ray film is put into piece storehouse 11 and is temporarily stored.
As shown in connection with fig. 3, Ray machine people unit 2, including second base 21, ray machine support 22 and X-ray machine X 23.Its
In, second base 21 is absorbed and fixed at CV wall of a container face, and can carry out back and forth in CV vessel surface along weld seam to be detected
It is mobile.The lower end of ray machine support 22 is connect with second base 21, and upper end is connect with X-ray machine X 23, so that X-ray machine X 23 be supported
It is fixed in second base 21.In the present embodiment, ray machine support uses frame structure, thus guaranteeing ray machine support knot
In the case where structure stability, mitigate the weight of entire Ray machine people unit, guarantee the mobile flexibility of Ray machine people unit,
It is clamping fixed embrace to X-ray machine X by anchor ear simultaneously.
In addition, in the present embodiment, first base and second base are all made of by multiple motor-driven track structures,
And magnetic suck component, such as permanent magnet are equipped on crawler belt.In this way, by motor to the driving of crawler belt and Magnetic absorbing element with
First base and second base creeping and in any position along CV wall surface of the container can be realized in the suction-operated of CV wall surface of the container
The stop set.It equally, in other embodiments, can also be using the power mechanism driving first base of other forms and the second bottom
Seat crawls along CV wall of a container face and carries out at an arbitrary position stop fixation.
In conjunction with shown in Fig. 1 to Fig. 3, using the present embodiment automatic detection device to the butt weld on nuclear power CV container into
The specific steps of row ray detection are as follows:
Step S1, it is respectively that tile robot cell 1 and Ray machine people is single by first base 11 and second base 21
Member 2 is absorbed and fixed on the inside and outside wall surface of CV container 3, and make the moving direction of first base 11 and second base 21 with it is to be checked
The length direction for surveying weld seam is consistent；
Step S2 adjusts the position of first base 11 and second base 21, makes tile robot cell 1 and Ray machine people
Unit 2 keeps opposite positional relationship, while to the distance between X-ray machine X 23 and weld seam to be detected in Ray machine people unit 2
It is adjusted, focal length requirement when it being made to meet ray detection；Wherein it is possible to by distinguishing in first base and second base
Locator, such as laser range finder are set, detection is measured to same datum, to complete to tile robot cell and penetrate
The position of line robot cell and adjustment to X-ray machine X focal length.
Step S3, after tile robot cell 1 and the control of Ray machine people unit 2 are moved to position to be detected, firstly,
Control manipulator 13 is from one film of taking-up in piece storehouse 12 and is laid on from position while welding to be detected；Then, start ray
Machine 23 carries out radiation operation, completes the ray detection of weld seam at this；Then, after closing X-ray machine X 23 and being exposed by manipulator 13
Film be reentered into piece storehouse 12 and temporarily stored.
Step S4 starts first base 11 and second base 21, by tile robot cell 1 and Ray machine people unit 2
It is moved to next place position while welding to be detected, and repeats the operation of step S3, completes the ray to all weld seams to be detected according to this
Detection or the exposure tests for completing all films in piece storehouse 12.
Step S5 completes the exposure tests to all films in the ray detection of all weld seams to be detected or piece storehouse 12
Afterwards, operator enters back into scene and carries out the dismounting of equipment or the film after exposures all in piece storehouse 12 is disposably taken out progress
Subsequent detection processing, and new film is put into piece storehouse 12 and continues subsequent ray detection.
As shown in connection with fig. 4, in the present embodiment, piece storehouse 12 uses sliding cover type body structure, including warehouse 121, left warehouse lid
122a, right warehouse lid 122b and left warehouse lid cylinder 123a and right warehouse lid cylinder 123b.Wherein, warehouse 121 is upper opening structure, left
Warehouse lid 122a and right warehouse lid 122b is fixed on the upper opening position of warehouse 121 by line slide rail.Left warehouse lid cylinder 123a and the right side
The cylinder part of warehouse lid cylinder 123b is fixedly connected with warehouse 121, and extension end then passes through a connecting plate and left warehouse lid respectively
122a is connected with right warehouse lid 122b, to can drive left warehouse lid respectively by left warehouse lid cylinder 123a and right warehouse lid cylinder 123b
122a and right warehouse lid 122b carries out reciprocatingly sliding for the left and right sides relative to warehouse 121, realizes the opening and closing to 121 upper opening of warehouse
Control.In this way, the protection to film both may be implemented, film is avoided to be directly exposed to the external destruction damage that may occur, and
And can also be by the linkage control of left warehouse lid cylinder, right warehouse lid cylinder and manipulator, raising takes piece, tile and changes piece process
Fluency improves the entire efficiency for picking and placing film operation.
In the present embodiment, the side wall of warehouse and left warehouse lid and right warehouse lid are all made of stereotype material and are process, thus
Ray insulation blocking can be carried out to the intracorporal film in storehouse, raw film is avoided to be occurred to expose in advance by the influence of X-ray machine X
Light, and then eliminate and independent isolation cover is set in first base to the progress ray insulation blocking of piece storehouse.Wherein, in stereotype
Protective layer, such as the protective layer of plastic material or stainless steel material can also be arranged in side and outside simultaneously, avoid in use process
The oxidation of stereotype or loss of colliding with occurs, improves the stability and fastness of entire warehouse structure.
Preferably, in conjunction with shown in Fig. 4 and Fig. 5, two slots 124 are additionally provided in piece storehouse 12.Slot 124 is rack-shaped knot
Structure, and two slots 124 are separately fixed at two opposing sidewalls positions inside warehouse 121, so as to utilize slot 124
On tooth socket film is fixed on the positioning.In this way, can may not only occur to avoid piece storehouse in first base moving process
Film it is at random, guarantee film in warehouse placement position it is neat, while can be with auxiliary manipulator according to tooth socket in slot
Sequence successively carry out the loading or unloading operation of film, avoid the mistake that film occurs from picking and placing, guarantee to operate film automatic clamping and placing
Accuracy improves the reliability and high efficiency of entire detection operation.
In addition, being additionally provided with piece storehouse cylinder 141 in the tile robot cell 1 of the present embodiment in conjunction with shown in Fig. 2 and Fig. 6.
Wherein, the cylinder part of piece storehouse cylinder 141 is fixed on bottom plate 142, and bottom plate 142 is then bolted on first base 11
On, the extension end of piece storehouse cylinder 141 is connect with mounting base 143, and mounting base 143 is connect by bolt with the bottom surface of warehouse 121,
To be moved in first base 11 with movable plate storehouse 12 by piece storehouse cylinder 141, change piece storehouse 12 in first base
Position on 11.In this way, not only position adjustment can be carried out with cooperative mechanical hand, improve and take the efficiency of piece and film releasing, and into
Piece storehouse can be moved to the position far from X-ray machine X in advance before row radiation, reduce piece storehouse by the effects of radiation of X-ray machine X, improve
Protection to film in warehouse.At the same time, it is additionally provided with two line slide rails 144 between mounting base 143 and bottom plate 142, uses
The guiding of process is moved back and forth to mounting base 143 in auxiliary piece storehouse cylinder 141, is improved to the accurate of 12 position of piece storehouse movement
Degree and stationarity.
In conjunction with shown in Fig. 2 and Fig. 7 to Fig. 9, in the present embodiment, manipulator 13 uses three axle robert, including X-axis machinery
Hand unit 131, Y-axis manipulator unit 132 and Z axis manipulator unit 133.Manipulator 13 is fixed on bottom by manipulator support 15
On plate 142, to realize the connection with first base 11, and it is located at the top position in piece storehouse 12.Wherein, manipulator support 15
For square set structure, it is fixedly connected by bolt with bottom plate 142.In the present embodiment, Z axis is directed toward CV container center axis, X
Axis and Y-axis are located on CV container in the section of position while welding to be detected, and X-axis is parallel to CV container center axis.
X-axis manipulator unit 131, including X-axis servo motor 1311, X-axis ball-screw 1312 and X-axis linear slider
1313.Wherein, X-axis ball-screw 1312 be located on the crossbeam on manipulator support 15 along the x axis and with X-axis servo motor
1311 connections, X-axis linear slider 1313 and X-axis ball-screw 1312 are arranged in parallel, and pass through a connecting plate and X-axis ball
Lead screw 1312 cooperates one, to realize that X-axis linear slider 1313 carries out the reciprocal shifting of X-direction along X-axis ball-screw 1312
It is dynamic.
Y-axis manipulator unit 132, including Y-axis mounting plate 1321, Y-axis servo motor 1322, Y-axis ball-screw 1323, Y
Axis linear slider 1324 and film pick and place cleft hand 1325.Wherein, Y-axis mounting plate 1321 is fixed in X-axis linear slider 1313 simultaneously
And it extend out to the outside of first base 11 along the y axis, Y-axis ball-screw 1323 is located at the upper surface of Y-axis mounting plate 1321 simultaneously
And connect with Y-axis servo motor 1322, Y-axis linear slider 1324 and Y-axis ball-screw 1323 are arranged in parallel, and pass through one
Connecting plate and Y-axis ball-screw 1323 cooperate one, to realize that Y-axis linear slider 1324 carries out Y along Y-axis ball-screw 1323
The reciprocating movement of axis direction.Film picks and places the lower surface that cleft hand 1325 is fixed on Y-axis mounting plate 1321, for the glue in piece storehouse
Piece carries out loading or unloading operation.
Z axis manipulator unit 133, including Z axis mounting plate 1331, Z axis servo motor 1332,1333 and of Z axis servo electric cylinders
Film is laid with handgrip 1334.Wherein, the laying of Z axis mounting plate 1331 is fixed in Y-axis linear slider 1324, Z axis servo electric cylinders
1333 cylinder part is vertically fixed on Z axis mounting plate 1331 along Z-direction and the extension end of Z axis servo electric cylinders 1333 is worn
Cross Z axis mounting plate 1331 be directed toward CV wall surface of the container direction, Z axis servo motor 1332 connect with Z axis servo electric cylinders 1333 and
The extension end of Z axis servo electric cylinders 1333 is driven to carry out expanding-contracting action.Film is laid with handgrip 1334 and is located at Z axis servo electric cylinders 1333
Extension end is laid on position while welding to be detected for film to be picked and placed the film on cleft hand 1325.
Preferably, as shown in connection with fig. 8, in the present embodiment, film picks and places cleft hand 1325 and uses pneumatic clamper structure type, including
Fixed plate 13251, displacement cylinder 13252, oscillating cylinder 13253 and pneumatic clamper 13254.Wherein, displacement cylinder 13252 selects straight line
Cylinder, and cylinder part is fixed on the upper surface of Y-axis mounting plate 1321 along Z-direction, and Y-axis mounting plate is then run through in extension end
1321.The cylinder part of oscillating cylinder 13253 is fixed on the extension end of displacement cylinder 13252.Fixed plate 13251 is located at Y-axis peace
It the lower section of loading board 1321 and arranges along the y axis, and wherein one end is connect with the extension end of oscillating cylinder 13253.Pneumatic clamper
13254 are fixedly connected with fixed plate 13251.
At this point, in conjunction with shown in Fig. 2, Fig. 7 and Fig. 8, by shifting the expanding-contracting action of cylinder 13252, pneumatic clamper can be driven
13254 carry out the reciprocating movement along Z-direction, so as to adjust the distance between pneumatic clamper 13254 and piece storehouse 12, realize to piece storehouse 12
The loading or unloading operation of middle film.By the reciprocating rotation of oscillating cylinder 13253, entire fixed plate 13251 can be driven to carry out around Y-axis
Swing, complete to film in pneumatic clamper 13254 in vertical posture (be located at YZ axial plane) and horizontal attitude (positioned at XY axial plane)
Between switching, thus in pneumatic clamper 13254 when realizing to film loading or unloading operation along the vertical direction and film in the horizontal direction
The fixation handover operation between handgrip 1334 is laid with film.
In addition, in other embodiments, cleft hand can also be picked and placed using the film of other structures form and realized to film
Loading or unloading operation by the way that magnetic substance is arranged on film in advance, and film pick-and-place is grabbed and is designed as example, by using magnetic suck mode
Electromagnet structure, to control by the magnetic force to electromagnet, the magnetic suck of film is fixed in realization, completes the pick-and-place to film
Operation.
As shown in connection with fig. 8, it is picked and placed in the film of the present embodiment and is additionally provided with the evacuation gas for selecting straight line cylinder in cleft hand 1325
Cylinder 13255.Wherein, the cylinder part for avoiding cylinder 13255 is fixed in fixed plate 13251, and pneumatic clamper 13254 is then fixed on and keeps away
The extension end of cylinder 13255 is allowed, so as to drive pneumatic clamper 13254 to carry out the reciprocal shifting of Y direction by evacuation cylinder 13255
It is dynamic.In this way, when carrying out pneumatic clamper 13254 and film is laid between handgrip 1334 to the fixed handover operation of film, so that it may logical
It crosses evacuation cylinder 13255 to adjust the position of pneumatic clamper 13254 along the y axis, realization pneumatic clamper 13254 is de- with film position relationship
From and contact.
In addition, as shown in connection with fig. 8, being picked and placed in cleft hand 1325 in the film of the present embodiment and being also provided with an auxiliary support bar
13256.Auxiliary support bar 13256 is fixed on the lower surface of Y-axis mounting plate 1321 along Z-direction and displacement cylinder 13252 is kept
Parallel relation, and line slide rail and sliding block are equipped on auxiliary support bar 13256, to pass through bearing and fixed plate 13251
The Auxiliary support to fixed plate 13251 is realized in the connection of free end, is improved fixed plate 13251 in displacement cylinder 13252 and is swung
The motion stability reliability that cylinder 13253 is moved and rotated under driving.
Preferably, in conjunction with shown in Fig. 8 and Fig. 9, in the present embodiment, film is laid with handgrip 1334 and uses vacuum adsorption type knot
Structure, including mounting plate 13341, back screen stereotype 13342 and vacuum chuck 13343.Wherein, mounting plate 13341 keeps horizontality
It is vertically fixed on the extension end of Z axis servo electric cylinders 1333, back screen stereotype 13342 is located at the lower surface of mounting plate 13341, and vacuum is inhaled
Disk 13343 is then fixed on mounting plate 13341 by mounting base and the absorption end of vacuum chuck 13343 is located at mounting plate
13341 lower surface.In this way, film can be absorbed and fixed to back screen stereotype by the control to vacuum chuck 13343
13342 sides, back screen when so as to directly by back screen stereotype 13342 as exposure.
Equally, in other embodiments, handgrip can also be laid with using the film of other structures mode and carries out consolidating for film
It is fixed, for example, by using magnetic suck mode, electromagnetism is designed as by the way that magnetic substance is arranged on film in advance, and by film laying handgrip
Iron construction, to control by the magnetic force to electromagnet, the magnetic suck of film is fixed in realization.
In conjunction with shown in Fig. 7 to Fig. 9, the process of film pick-and-place and lay-up operation is carried out using the three axle robert of the present embodiment
Are as follows:
Firstly, pneumatic clamper 13254 is gone under the driving of oscillating cylinder 13253 along the vertical direction and in displacement cylinder
13252 drive be displaced downwardly in piece storehouse 12 to the film chosen carry out it is unilateral grip, film is taken along the vertical direction later
Out, pneumatic clamper 13254 is driven to rotate in the case where oscillating cylinder 13253 is to the driving of fixed plate 13251 after film takes out, by film
It overturns to horizontality；Then, vacuum chuck 13343 moves under the driving of Y-axis servo motor 1322 with Y-axis linear slider 1324
It moves to the top position in horizontality film, and has been contacted under the drive of Z axis servo electric cylinders 1333 with film face
The vacuum suction of pairs of film is fixed；Then, the release of pneumatic clamper 13254 grips film, and in evacuation cylinder 13255
Drive under move along the y axis, be detached from the position overlapping relation of film in the Z-axis direction；Finally, in Z axis servo electric cylinders
1333 pairs of films adjust the position of film along the y axis along the adjustment of the position of Z-direction and Y-axis servo motor 1322, will
Film is moved to position while welding to be detected, completes the laying to film at position while welding to be detected.Similarly, in the exposure for completing film
After light processing, the film after exposure can be stored into piece storehouse by above-mentioned reverse operating.
Manipulator uses three axle robert structure in the present embodiment, and equally, in other embodiments, manipulator can also be with
Other structures form is selected, for example, by using robot arm configuration, passes through free movement of the robot arm in space in this way
Realize the pick-and-place and lay-up operation to film.
As shown in connection with fig. 3, Ray machine people unit 2 in the present embodiment, further includes vertical push rod 24, and X-ray machine X 23
It is connect between ray machine support 22 by line slide rail 25.Wherein, vertical push rod 24 selects electric pushrod, and one end and the
Two pedestals 21 are fixedly connected, and the other end is connect along Z-direction with X-ray machine X 23, thus can be along Z by controlling vertical push rod 24
Axis direction adjusts the distance between X-ray machine X 23 and CV wall surface of the container, completes the adjustment that focal length is radiated to X-ray machine X 23.
It further include smart camera 4 and positioning in the automatic detection device of the present embodiment in conjunction with shown in Fig. 2, Fig. 3 and Figure 10
Mark band 5.Wherein, two smart cameras 4 are fixed in first base 11 and second base 12 by camera support 41 respectively, and
And it extend out to the outside of first base 11 and second base 12.Telltale mark band 5 is then fixed on CV vessel surface and parallel
In weld seam to be detected, meanwhile, station location marker 51, the automatic identification for smart camera 4 are equipped on telltale mark band 5.At this point,
By smart camera to the automatic identification of station location marker on telltale mark band, can directly control first base and second base into
Row is mobile and positions, and realizes the automation control mobile to tile robot cell and Ray machine people's cell position.
Preferably, the positional relationship on telltale mark band 5 between multiple station location markers 51 carries out exposure according to each
The position of detection is correspondingly arranged, so as to so that tile robot cell and Ray machine people's unit according to smart camera
Accurate positioning is mobile and rests in position to be detected.Meanwhile telltale mark band 5 is using the face mutually distinguished with CV wall surface of the container color
Color improves the color contrast between telltale mark band and CV wall surface of the container, in order to which smart camera can quickly identify positioning
Band is marked, tile robot cell and Ray machine people unit is improved and telltale mark band is identified according to smart camera and carries out position
Set mobile precision and speed.
In addition, light source 42 is additionally provided on camera support 41 in conjunction with shown in Fig. 2 and Fig. 3, it is auxiliary for improving brightness of illumination
Help smart camera 4 to carry out quickly identifying positioning to telltale mark band 5, improve smart camera to the accuracy of identification of telltale mark band and
Efficiency.
In conjunction with shown in Fig. 2 and Fig. 3, video monitor 6 is further respectively had in first base 11 and second base 21, is used for
Video monitoring system is formed, assist operators carry out the movement of long-range monitoring tile robot cell and Ray machine people's unit
The case where situation, positioning scenarios and detection process, to realize operator to the real time remote for detecting live ambient enviroment
Monitoring, at the same facilitate operator automatic detection process is grasped and when necessary carry out in time auxiliary control, guarantee certainly
The smooth reliability of dynamic detection process.
In addition, the automatic detection device in the present embodiment can make to spread by PLC control system by pre-set program
Piece robot cell and Ray machine people's unit carry out full automatic movement, positioning and detection operation, equally can also be by operating
Personnel carry out remote operation control to the detection device by video monitoring system.Equally, other control system can also be used
Detection control is carried out to automatic detection device.
Claims (10)
1. a kind of automatic detection device for nuclear power CV container butt weld ray detection, which is characterized in that including tile machine
Device people unit and Ray machine people's unit, and the tile robot cell and the Ray machine people unit are located at CV
The interior outside of container；
The tile robot cell, including first base, piece storehouse and manipulator；Wherein, the first base is absorbed and fixed at
CV wall surface of the container, and can be moved back and forth along weld seam to be detected；Described storehouse is fixed in the first base, and
A large amount of films are stored in described storehouse；The manipulator is fixed in the first base, for taking from described storehouse
It film and is laid on position while welding to be detected out and exposed film is put into described storehouse and store；
The Ray machine people unit, including second base, ray machine support and X-ray machine X；Wherein, the second base absorption
It is fixed on CV wall surface of the container, and can be moved back and forth along weld seam to be detected；One end of the ray machine support with it is described
Second base connection, the other end connect with the X-ray machine X, the X-ray machine X are supported and fixed in the second base.
2. automatic detection device according to claim 1, which is characterized in that described storehouse is sliding cover type body structure, packet
Include warehouse, warehouse lid and warehouse lid cylinder；Wherein, the warehouse is upper opening structure, and the warehouse lid is located at the upper of the warehouse
Aperture position；The cylinder part of the warehouse lid cylinder is fixedly connected with the warehouse, the extension end of the warehouse lid cylinder with it is described
Warehouse lid connection；The warehouse lid cylinder drives the warehouse lid to reciprocatingly slide, and carries out opening and closing control to the upper opening of the warehouse.
3. automatic detection device according to claim 2, which is characterized in that described storehouse, further includes slot；The slot
For rack-shaped structure and the sidewall locations inside the warehouse, the inserting for film is positioned.
4. automatic detection device according to claim 2, which is characterized in that the side wall of the warehouse and the warehouse lid are equal
It is process using stereotype material.
5. automatic detection device according to claim 1, which is characterized in that the manipulator using three axle robert and
It is fixed in the first base by manipulator support, the manipulator includes X-axis manipulator unit, Y-axis manipulator unit
With Z axis manipulator unit；Z axis is directed toward CV container center axis, and X-axis and Y-axis are located at cutting for position while welding to be detected on CV container
In face, and X-axis is parallel to CV container center axis；Wherein,
X-axis manipulator unit, including X-axis servo motor, X-axis ball-screw and X-axis linear slider；X-axis ball-screw position
It is connect on the manipulator support and with the X-axis servo motor, the X-axis linear slider is parallel with X-axis ball screw
Arrangement, and by connecting plate and X-axis ball screw cooperation one, to realize the straight reciprocating motion of X-axis linear slider；
Y-axis manipulator unit, including Y-axis mounting plate, Y-axis servo motor, Y-axis ball-screw, Y-axis linear slider and film pick and place
Cleft hand；The Y-axis mounting plate is fixed in the X-axis linear slider, and the Y-axis ball-screw is located at the Y-axis mounting plate
It upper surface and is connect with the Y-axis servo motor, the Y-axis linear slider and Y-axis ball screw are arranged in parallel, and pass through company
Fishplate bar and Y-axis ball screw cooperation one, to realize the straight reciprocating motion of Y-axis linear slider；The film picks and places cleft hand
It is fixed on the lower surface of the Y-axis mounting plate, for carrying out loading or unloading operation to the film in described storehouse；
Z axis manipulator unit, including Z axis mounting plate, Z axis servo motor, Z axis servo electric cylinders and film are laid with handgrip；The Z axis
Mounting plate is fixed in the Y-axis linear slider, and the cylinder part of the Z axis servo electric cylinders is vertically fixed on institute along Z-direction
It states on Z axis mounting plate and the extension end of the Z axis servo electric cylinders passes through the Z axis mounting plate and is directed toward CV wall surface of the container, the Z
Axis servo motor connect with the Z axis servo electric cylinders and the extension end of the Z axis servo electric cylinders is driven to carry out expanding-contracting action；Institute
It states film and is laid with the extension end that handgrip is located at the Z axis servo electric cylinders, the film for picking and placing the film on cleft hand is laid with
In position while welding to be detected.
6. automatic detection device according to claim 5, which is characterized in that the film pick and place cleft hand include fixed plate,
Shift cylinder, oscillating cylinder and pneumatic clamper；Wherein, the displacement cylinder is fixed on the Y-axis mounting plate along Z axis, the swing
Cylinder is fixed on the extension end of the displacement cylinder, and the fixed plate is located at the Y-axis mounting plate lower section and along the y axis cloth
It sets, and one end is connect with the extension end of the oscillating cylinder, the pneumatic clamper is connect with the fixed plate.
7. automatic detection device according to claim 6, which is characterized in that it further includes evacuation gas that the film, which picks and places cleft hand,
Cylinder, the evacuation cylinder are fixed on along the y axis in the fixed plate, and the pneumatic clamper is fixed on stretching for the evacuation cylinder
Outlet.
8. automatic detection device according to claim 5, which is characterized in that the film be laid with handgrip include mounting plate,
Back screen stereotype and vacuum chuck；The mounting plate is vertically fixed on the extension end of the Z axis servo electric cylinders, and the back shields stereotype position
In the lower surface of the mounting plate, the vacuum chuck is located on the mounting plate.
9. automatic detection device according to claim 1, which is characterized in that the Ray machine people unit, further includes erecting
Straight push rod；It is connected between the X-ray machine X and the ray machine support by line slide rail；One end of the vertical push rod and institute
It states second base to be fixedly connected, the other end is connect with the X-ray machine X.
10. automatic detection device according to claim 1, which is characterized in that the automatic detection device further includes intelligent phase
Machine and telltale mark band；The smart camera is fixed in the first base and the second base；The telltale mark band
It is fixed on CV vessel surface along weld seam to be detected, and the telltale mark band is equipped with station location marker, for the intelligent phase
Machine identifies and positions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811265799.1A CN109545404A (en) | 2018-10-29 | 2018-10-29 | A kind of automatic detection device for nuclear power CV container butt weld ray detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811265799.1A CN109545404A (en) | 2018-10-29 | 2018-10-29 | A kind of automatic detection device for nuclear power CV container butt weld ray detection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109545404A true CN109545404A (en) | 2019-03-29 |
Family
ID=65845161
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811265799.1A Pending CN109545404A (en) | 2018-10-29 | 2018-10-29 | A kind of automatic detection device for nuclear power CV container butt weld ray detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109545404A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110006930A (en) * | 2019-05-09 | 2019-07-12 | 上海电机学院 | It is a kind of for the automatic anti-exposure record changer based on seam inspection |
| CN110018188A (en) * | 2019-05-09 | 2019-07-16 | 上海电机学院 | A kind of automation shell ring class workpiece X-ray detection of welding film making equipment |
| CN110082373A (en) * | 2019-05-31 | 2019-08-02 | 北京史河科技有限公司 | A kind of flaw detection robot |
| CN114280085A (en) * | 2021-12-27 | 2022-04-05 | 中国核工业二四建设有限公司 | Automatic welding line ray detection equipment and detection method |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1253290A (en) * | 1998-11-05 | 2000-05-17 | 孙法远 | Automatically moving X-ray flaw detector for welded seam of ship tank |
| CN103286769A (en) * | 2013-05-29 | 2013-09-11 | 中国人民解放军96630部队 | High-energy X-ray radiographic film changing robot |
| CN103472076A (en) * | 2013-08-30 | 2013-12-25 | 山东科技大学 | Automatic paster robot for weld radiographic inspection |
| CN104704575A (en) * | 2012-07-31 | 2015-06-10 | 法国电力公司 | Sealing of a crack in a pool of a nuclear facility, using a robot |
| CN104772749A (en) * | 2015-04-24 | 2015-07-15 | 芜湖哈特机器人产业技术研究院有限公司 | X-ray film taking and placing robot system |
| CN205122202U (en) * | 2015-11-30 | 2016-03-30 | 苏州热工研究院有限公司 | Nuclear power station containment is used from detecting dolly |
| CN205222058U (en) * | 2015-12-04 | 2016-05-11 | 博格华纳汽车零部件（江苏）有限公司 | Turbine part welding seam detects and snatchs mechanism with motion |
| CN107489854A (en) * | 2017-07-17 | 2017-12-19 | 上海交通大学 | A kind of contactless magnetic adsorption wall climbing robot for adapting to complicated wall operation |
| CN206827399U (en) * | 2017-06-21 | 2018-01-02 | 淮南矿业(集团)有限责任公司 | A kind of waste bin Cang Gai of automatic opening |
| CN207001755U (en) * | 2017-05-11 | 2018-02-13 | 张启玥 | A kind of film-making machine |
| CN107731329A (en) * | 2017-10-31 | 2018-02-23 | 中广核检测技术有限公司 | Control rod guide tubes and bundles split pin detects robot and localization method |
| CN207066002U (en) * | 2017-04-19 | 2018-03-02 | 易华 | A kind of X-ray film drying box |
| CN108447572A (en) * | 2018-01-16 | 2018-08-24 | 深圳市智能机器人研究院 | Nuclear reactor safety shell steel lining hollowing automatic checkout system and method |
| CN207876870U (en) * | 2017-12-05 | 2018-09-18 | 泸州北方化学工业有限公司 | A kind of screw rod charger |
| CN108665986A (en) * | 2017-03-31 | 2018-10-16 | 国核电站运行服务技术有限公司 | Climbing robot for heat-transfer pipe of evaporator tube sheet |
-
2018
- 2018-10-29 CN CN201811265799.1A patent/CN109545404A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1253290A (en) * | 1998-11-05 | 2000-05-17 | 孙法远 | Automatically moving X-ray flaw detector for welded seam of ship tank |
| CN104704575A (en) * | 2012-07-31 | 2015-06-10 | 法国电力公司 | Sealing of a crack in a pool of a nuclear facility, using a robot |
| CN103286769A (en) * | 2013-05-29 | 2013-09-11 | 中国人民解放军96630部队 | High-energy X-ray radiographic film changing robot |
| CN103472076A (en) * | 2013-08-30 | 2013-12-25 | 山东科技大学 | Automatic paster robot for weld radiographic inspection |
| CN104772749A (en) * | 2015-04-24 | 2015-07-15 | 芜湖哈特机器人产业技术研究院有限公司 | X-ray film taking and placing robot system |
| CN205122202U (en) * | 2015-11-30 | 2016-03-30 | 苏州热工研究院有限公司 | Nuclear power station containment is used from detecting dolly |
| CN205222058U (en) * | 2015-12-04 | 2016-05-11 | 博格华纳汽车零部件（江苏）有限公司 | Turbine part welding seam detects and snatchs mechanism with motion |
| CN108665986A (en) * | 2017-03-31 | 2018-10-16 | 国核电站运行服务技术有限公司 | Climbing robot for heat-transfer pipe of evaporator tube sheet |
| CN207066002U (en) * | 2017-04-19 | 2018-03-02 | 易华 | A kind of X-ray film drying box |
| CN207001755U (en) * | 2017-05-11 | 2018-02-13 | 张启玥 | A kind of film-making machine |
| CN206827399U (en) * | 2017-06-21 | 2018-01-02 | 淮南矿业(集团)有限责任公司 | A kind of waste bin Cang Gai of automatic opening |
| CN107489854A (en) * | 2017-07-17 | 2017-12-19 | 上海交通大学 | A kind of contactless magnetic adsorption wall climbing robot for adapting to complicated wall operation |
| CN107731329A (en) * | 2017-10-31 | 2018-02-23 | 中广核检测技术有限公司 | Control rod guide tubes and bundles split pin detects robot and localization method |
| CN207876870U (en) * | 2017-12-05 | 2018-09-18 | 泸州北方化学工业有限公司 | A kind of screw rod charger |
| CN108447572A (en) * | 2018-01-16 | 2018-08-24 | 深圳市智能机器人研究院 | Nuclear reactor safety shell steel lining hollowing automatic checkout system and method |
Non-Patent Citations (2)
| Title |
|---|
| 刘景笑: "焊缝射线检测用智能机器人的研究", 《CNKI》 * |
| 刘景笑: "焊缝射线检测用智能机器人的研究", 《中国优秀硕士学位论文全文数据库 工程科技I辑》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110006930A (en) * | 2019-05-09 | 2019-07-12 | 上海电机学院 | It is a kind of for the automatic anti-exposure record changer based on seam inspection |
| CN110018188A (en) * | 2019-05-09 | 2019-07-16 | 上海电机学院 | A kind of automation shell ring class workpiece X-ray detection of welding film making equipment |
| CN110018188B (en) * | 2019-05-09 | 2021-08-24 | 上海电机学院 | Automatic change shell ring class work piece welding seam X-ray detection equipment of taking photograph |
| CN110082373A (en) * | 2019-05-31 | 2019-08-02 | 北京史河科技有限公司 | A kind of flaw detection robot |
| CN114280085A (en) * | 2021-12-27 | 2022-04-05 | 中国核工业二四建设有限公司 | Automatic welding line ray detection equipment and detection method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109545404A (en) | A kind of automatic detection device for nuclear power CV container butt weld ray detection | |
| CN109079842B (en) | Stabilization of tool-carrying end of range-extending arm of automation device | |
| CN106512266B (en) | Hanger rail type fire protection patrol robot | |
| CN105618930B (en) | A kind of field pipeline laser repair device of packaged type | |
| CN103286769B (en) | High-energy X-ray radiographic film changing robot | |
| CN108858121A (en) | Hot line robot and its control method | |
| CN109366493B (en) | Paster robot | |
| CN110993547B (en) | Wafer basket changing device | |
| CN108683050A (en) | A kind of hot line robot connects lead method | |
| CN206250322U (en) | A kind of automatic battery core roast streaming system | |
| CN108501009A (en) | A kind of Jian Dan robots | |
| CN107389686A (en) | A kind of detection robot system and its detection method for locomotive bottom | |
| CN110259070A (en) | A kind of tile work composite aircraft and mortar laydown machine combined system and interlock method | |
| CN107121632A (en) | A kind of flying probe system | |
| CN109545405A (en) | A kind of tile film-taking in means for nuclear power CV container butt weld ray detection | |
| CN109083381A (en) | The quick patch block machine of construction | |
| CN107053260A (en) | A kind of gripper | |
| CN110320686A (en) | ULED screen substrate detection/measuring device pre- alignment device and its application method | |
| CN108501008A (en) | One kind picking up egg clamping jaw | |
| CN109765183A (en) | A kind of Mobile phone screen detection device and its application method | |
| CN112958928A (en) | Intelligent welding system and method | |
| CN209446494U (en) | A kind of film storage device for nuclear power CV container butt weld ray detection | |
| AU2017388422A1 (en) | X-ray testing and linear three-dimensional scanning and imaging device for GIS apparatus | |
| CN209006975U (en) | A kind of automatic cycle feed supplement formula crawl PCB device | |
| CN210156349U (en) | Photovoltaic module defect marking device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190329 |