CN110238814A - A kind of detection robot - Google Patents
A kind of detection robot Download PDFInfo
- Publication number
- CN110238814A CN110238814A CN201910599477.9A CN201910599477A CN110238814A CN 110238814 A CN110238814 A CN 110238814A CN 201910599477 A CN201910599477 A CN 201910599477A CN 110238814 A CN110238814 A CN 110238814A
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- probe
- guidance set
- detection robot
- detection
- probe assembly
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- 238000001514 detection method Methods 0.000 title claims abstract description 42
- 239000000523 sample Substances 0.000 claims abstract description 106
- 238000013016 damping Methods 0.000 claims abstract description 23
- 238000012360 testing method Methods 0.000 claims abstract description 21
- 238000009434 installation Methods 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000005452 bending Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 3
- 238000001816 cooling Methods 0.000 description 27
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 19
- 230000000694 effects Effects 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000035939 shock Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 210000003734 kidney Anatomy 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/08—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness for measuring thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Food Science & Technology (AREA)
- Medicinal Chemistry (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of detection robots, the detection robot includes: robot body, testing agency and running gear, the running gear is arranged on the robot body to be driven by driving part to be moved on working face, the testing agency is arranged on the robot body, the testing agency includes: damping, probe assembly and probe guidance set, the probe assembly is connect with the damping, the probe guidance set is arranged on the probe assembly, the lower end of the probe guidance set is contacted with detection surface at work.The present invention solves the technical issues of detecting instrument easily collides with the lug boss on detection working face during detecting mobile in the prior art.
Description
Technical field
The present invention relates to water-cooling wall detection device technical field more particularly to a kind of robots for water-cooling wall detection.
Background technique
During industrial equipment is cooling, through frequently with mode be that water cooling is cooled down, simply make with structure
With feature at low cost, structure the most universal is to be cooled down using water-cooling wall, and more water cooling tubes are arranged on cooling wall
Road is completed to cool down by water circulation, can form scale in the inner wall of water cooling tube during cooling down due to water, product year in year out
The tired wall thickness that will affect water cooling tube, in addition, water-cooling wall and water cooling tube can damage, therefore during prolonged use
It is periodically required to detect water cooling tube and water-cooling wall, has used special water-cooling wall detection robot in the prior art
Thickness and carrying out flaw detection are carried out to it, the course of work is that will test instrument to move along water-cooling wall, in the process of moving
Water cooling tube is detected, but since there are the boss such as barrier or weld seam on water-cooling wall, in the detection process, inspection
It surveys instrument easily to collide with boss, and leads to apparatus damage.
Summary of the invention
The present invention provides a kind of detection robot, and it is easy during detecting mobile to solve detecting instrument in the prior art
The technical issues of colliding with the lug boss on detection working face.
In order to solve the above-mentioned technical problems, the present invention provides a kind of detection robot, the detection robot includes: machine
Device human agent, testing agency and running gear, the running gear are arranged on the robot body by driving part band
It moves and is moved on working face, the testing agency is arranged on the robot body, and the testing agency includes: damping machine
Structure, probe assembly and probe guidance set, the probe assembly are connect with the damping, the probe guidance set setting
On the probe assembly, the lower end of the probe guidance set is contacted with detection surface at work.
As a preferred embodiment of the above technical solution, the probe guidance set includes directive wheel, and the directive wheel is located at described
The lower end of probe guidance set.
As a preferred embodiment of the above technical solution, the probe guidance set further includes guide connecting rod, the guiding rotation
Dynamic to be arranged on the guide connecting rod, the guide connecting rod prolongs obliquely and towards the direction close to the probe assembly
It stretches.
As a preferred embodiment of the above technical solution, the probe guidance set further includes guiding mounting plate, the guiding connection
The upper end of bar is connect with the guiding mounting plate, and the guiding mounting plate is connect with the probe assembly, the guiding mounting plate
Outer end downward bending.
As a preferred embodiment of the above technical solution, the probe assembly includes: probe body and probe mounting bracket, the spy
Head ontology is movably arranged in the probe mounting bracket.
As a preferred embodiment of the above technical solution, screw hole, the probe body and institute are provided in the probe mounting bracket
State screw hole threaded connection.
As a preferred embodiment of the above technical solution, the quantity of the probe guidance set is at least two groups, is separately positioned on
The two sides of the probe assembly.
As a preferred embodiment of the above technical solution, the testing agency further include: horizontal slide rail and slide unit, the sliding
Component activity is arranged in the horizontal slide rail, and the damping is connect with the slide unit.
As a preferred embodiment of the above technical solution, the damping includes vertical shift guide rod, the vertical shift guide rod activity setting
On the slide unit and it can vertically be moved on the slide unit.
As a preferred embodiment of the above technical solution, the bottom of the robot body is provided with magnetic part.
Said one or multiple technical solutions in the application at least have following one or more technical effects:
The present invention provides a kind of detection robot, and the detection robot includes: robot body, testing agency and row
Walking apparatus, the running gear is arranged on the robot body to be driven by driving part to be moved on working face, the inspection
It surveys mechanism to be arranged on the robot body, the testing agency includes: damping, probe assembly and probe guiding group
Part, the probe assembly are connect with the damping, and the probe guidance set is arranged on the probe assembly, are being worked
When the probe guidance set lower end contacted with detection surface, the present invention is connect by guidance set of popping one's head in working face
Touching, when encountering the lug boss on working face, upward movement can occur for damping, so that probe assembly be driven to cross
Barrier, therefore probe assembly can be used for adapting to the detection working face of various environment, which solve detectors in the prior art
The technical issues of device easily collides with the lug boss on detection working face during detecting mobile.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
Fig. 1 is the schematic perspective view that the embodiment of the present invention detects robot；
Fig. 2 is the schematic perspective view of robot body in the embodiment of the present invention；
Fig. 3 is the schematic perspective view of auxiliary guide mechanism in the embodiment of the present invention；
Fig. 4 is the schematic perspective view of testing agency in the embodiment of the present invention.
Description of symbols: 1, robot body；2, testing agency；3, auxiliary guide mechanism；4, obstacle avoidance sensor；5, it takes the photograph
As head；6, headlamp；7, sensor connecting bracket；11, mainboard is installed；12, magnet mounting plate；13, magnetic part；14, it walks
Device；15, lifting handles；16, carrying handle；17, robot control cabinet；21, mounting bracket is detected；22, shock bracket；23,
Traversing locking member；24, slide unit；25, vertical shift guide rod；26, vertical shift locking member；27, horizontal slide rail；28, probe installation
Bracket；29, probe assembly；210, probe guidance set；211, it is oriented to mounting plate；212, probe body；213, directive wheel；214,
Guide connecting rod；215, damping；31, it is oriented to connecting plate；32, guiding trestle is assisted；33, auxiliary guide wheels；34, auxiliary subtracts
Shake mechanism；35, clamping screw.
Specific embodiment
To keep the purpose of the present invention, feature, advantage more obvious and understandable, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Referring to Fig. 1 to Fig. 4, the embodiment of the present invention provides a kind of detection robot, which includes: robot master
Body 1, testing agency 2 and running gear 14, running gear 14 is arranged on robot body 1 to be worked by driving part drive
It is moved on face, testing agency 2 is arranged on robot body 1, and testing agency 2 includes: damping 215,29 and of probe assembly
Probe guidance set 210, probe assembly 29 connect 215 with damping, and probe guidance set 210 is arranged in probe assembly 29
On, the lower end for guidance set 29 of popping one's head at work is contacted with detection surface.
Specifically, the bottom of the robot body 1 in the present embodiment is provided with magnetic part 13, more specifically, machine
Device human agent 1 includes installation mainboard 11, and the bottom of installation mainboard 11 is arranged in running gear 14, and the top for installing mainboard 11 is set
It is equipped with robot control cabinet 17, lifting handles 15 and carrying handle 16, lifting handles 15 and carrying handle 16 are mainly for convenient
Lifting and carrying, and it is mono-track that running gear 14, which uses, which is arranged along the length direction of installation mainboard 11, installation
The bottom of mainboard 11 and be located at rear and front end position be respectively arranged with magnet mounting plate 12, the lower end of each magnet mounting plate 12
It is provided with magnetic part 13, which can be permanent magnet, or electromagnet, the main function of magnetic part 13
It is, it is adsorbed on working surface at work, can be used for realizing and climbs wall operation, in the present embodiment, testing agency 2 is arranged
In the front end of installation mainboard 11, and the rear end for installing mainboard 11 is provided with headlamp 6 and camera 5, specifically, installation mainboard
11 rear end is provided with mounting plate, and on a mounting board, camera 5 is used to detect working environment for headlamp 6 and the setting of camera 5,
Headlamp 6 is used for floor light, and the rear end of installation mainboard 11 also sets up sensor connecting bracket 7, and obstacle avoidance sensor 4 is transversely set
It sets in sensor connecting bracket 7, the obstacle avoidance sensor 4 in the present embodiment is strip, can expand the induction model of sensor
It encloses, effectively improves anticollision ability.
11 two sides of installation mainboard in the present embodiment are provided with auxiliary guide mechanism 3, auxiliary guide mechanism 3 and installation mainboard
11 is are detachably connected, specifically, the auxiliary guide mechanism 3 in the present embodiment includes guiding connecting plate 31, are oriented to connecting plate
31 lower end is provided with auxiliary guide wheels 33, more specifically, is oriented on connecting plate 31 and is provided with auxiliary guiding trestle 32, auxiliary
It is provided with auxiliary damping 34 on guiding trestle 32, is provided with arc groove in auxiliary guide wheels 33, the effect of arc groove is
Can be preferably bonded with water cooling tube, auxiliary guide wheels 33 is prevented to be detached from from water cooling tube, in addition, the present embodiment installation mainboard 11 with
Guiding connecting plate 31 between by clamping screw 35 realize it is mutual be detachably connected, in addition, the guiding in the present embodiment connects
Kidney slot is provided on plate 31, clamping screw 35 passes through kidney slot and connect with installation mainboard 11, and kidney slot to assist Guiding machine
The position of structure 3 is adjustable, and the specific location of auxiliary guide mechanism 3 can be adjusted according to the spacing between water cooling tube.
In the present embodiment, the quantity of probe guidance set 210 is at least two groups, is separately positioned on the two of probe assembly
Side, specifically, the quantity of probe guidance set 210 is four groups, which includes directive wheel 213, directive wheel
213 are located at the lower end of probe guidance set 210, are contacted using directive wheel 213 with working surface in the present embodiment, in mobile mistake
Directive wheel 213 is rolled in working surface in journey, can reduce resistance, prevents lower end and detection table due to probe guidance set 29
Face contact and probe assembly 29 is obstructed in moving process.
More specifically, probe guidance set 210 further includes guide connecting rod 214, and directive wheel 213 is rotatably arranged on guiding
In connecting rod 214, guide connecting rod 214 extends obliquely and towards the direction close to probe assembly 29, in the present embodiment, guiding
Wheel 213 is rotatably arranged on the lower end of guide connecting rod 214 by shaft etc..
Further, probe guidance set 210 further include guiding mounting plate 211, the upper end of guide connecting rod 214 with lead
It being connected to mounting plate 211, guiding mounting plate 211 is connect with probe assembly 29, it is oriented to the outer end downward bending of mounting plate 211, and
And in the present embodiment, guide connecting rod 214 is vertical with guiding mounting plate 211.
In the present embodiment, the outer end downward bending and guide connecting rod 214 for being oriented to mounting plate 211 are obliquely and towards leaning on
The direction of nearly probe assembly 29 extends, its role is to which directive wheel 213 can be made in the setting of oblique inside, work when
It waits, it is more stable in 29 moving process of probe assembly so that the outer circumference surface of directive wheel 213 is contacted with water cooling pipe surface, it can be with
The play effectivelying prevent on 29 left and right directions of probe assembly, in addition, four groups of probe guidance sets 210 in the present embodiment are in symmetrical
The two sides of probe assembly 29 are set, and probe assembly 29 is looped around middle position by guidance set 210 of popping one's head in, due to probe assembly
29 belong to valuables, can also play and play a protective role to probe assembly 29, prevent barrier etc. directly with probe group
Part 29 collides and probe assembly 29 is caused to be damaged.
In the present embodiment, probe assembly 29 includes: probe body 212 and probe mounting bracket 28,212 activity of probe body
In probe mounting bracket 28, the guiding mounting plate 211 in the present embodiment is mounted on probe mounting bracket 28 for setting, it is specific and
Speech, the inner end for being oriented to mounting plate 211 are achieved a fixed connection by way of fastener or welding with probe mounting bracket 28, and
Probe body 212 in the present embodiment can carry out the adjustment on vertical direction in probe mounting bracket 28, and probe body 212 can
Using calibrator or defectoscope etc..
Further, probe mounting bracket 28 is plate body, offers screw hole, probe body in mounting bracket 28 of popping one's head in
212 are threadedly coupled with screw hole, and the probe body 212 in the present embodiment uses cylindrical structure, are provided with screw thread on outer peripheral surface, because
This its can realize and be threadedly coupled with screw hole, and screw hole is the through-hole that mounting bracket 28 of popping one's head in is arranged in, can in the present embodiment
To adjust the distance between 212 lower end of probe body and working face by rotation probe body 212, it is adapted to different water
Cold pipeline, in addition, being not only simple in structure using screw thread adjusting, and easy to adjust.
In the present embodiment, testing agency 2 further include: horizontal slide rail 27 and slide unit 24,24 activity setting of slide unit
In horizontal slide rail 27, damping 215 is connect with slide unit 24, specifically, the testing agency 2 in the present embodiment has
One detection mounting bracket 21, the detection mounting bracket 21 are fixed on robot body 1, in addition, the detection mounting bracket 21
Two sides have protective plate, and horizontal slide rail 27 is transversely arranged in detection mounting bracket 21, the lower end connection one of slide unit 24
Sliding block, sliding block and horizontal slide rail 27 cooperate, and slide unit 24 can move in horizontal slide rail 27, in addition, the slide unit 24
On be provided with traversing locking member 23, which is that band tightens the puller bolt of hand handle, which is arranged in cunning
In screw hole on dynamic component 24, when operating position, is held out against by turning bolt and realized pair in horizontal slide rail 27
24 locking positioning of slide unit, horizontal slide rail 27 can expand the detection range of probe assembly 29, can be in horizontal slide rail 27
Any position in length range is detected.
In the present embodiment, damping 215 includes vertical shift guide rod 25, and vertical shift guide rod 25 is movably arranged on slide unit 24
And it can vertically be moved on slide unit 24, specifically, being provided with vertical guide sleeve, vertical shift on slide unit 24
Guide rod 25 is movably arranged in the guide sleeve, and slide unit 24 is additionally provided with vertical shift locking member 26, and vertical shift locking member 26 is set
It sets in the side of slide unit 24, which is to hold out against component, further, in this embodiment can be in vertical shift
On guide rod 25 and along the vertical direction upper several jacks of setting, vertical shift locking member 26 passes through guide sleeve, and to be inserted into jack fixed to realize
Position, the setting of vertical shift guide rod 25 adjust damping 215 in the vertical direction, therefore can be to probe assembly 29
The distance between lower end and working face are adjusted, and adaptability can be improved, can be according to detection working environment to probe group
29 vertical direction of part is adjusted, finally, the damping 215 in the present embodiment includes spring, shock bracket 22 and guiding
Bar, guide rod can be arranged in shock bracket vertically movablely, and spring is set on guide rod, the lower end of guide rod and probe
Mounting bracket 28 connects, and the upper end of spring is contacted with shock bracket 22, and the lower end of spring is contacted with probe mounting bracket 28, this
215 main function of damping in embodiment is, so that probe assembly 29 has flexibility, plays the work of buffering and anticollision
With.
The detection robot of the present embodiment at work, places it on working face, so that water cooling tube is positioned at auxiliary
It helps in the arc groove of directive wheel 33, the work face contact between crawler belt and auxiliary guide wheels 33, and the guidance set 210 that will pop one's head in
Directive wheel 213 contacted with the water cooling tube that detects is needed, starting crawler belt makes it walk along the length direction of water cooling tube,
During walking, probe body 212 detects water cooling tube, due to guidance set 210 of popping one's head at work
Directive wheel 213 is contacted with the water cooling tube detected is needed, and damping 215 is provided on probe assembly 29, therefore leading
Meeting compression shock absorption mechanism 215, prevents probe assembly 29 from colliding in barrier when encountering barrier to wheel 213.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of detection robot, which is characterized in that the detection robot includes: robot body, testing agency and row
Walking apparatus, the running gear is arranged on the robot body to be driven by driving part to be moved on working face, the inspection
It surveys mechanism to be arranged on the robot body, the testing agency includes: damping, probe assembly and probe guiding group
Part, the probe assembly are connect with the damping, and the probe guidance set is arranged on the probe assembly, are being worked
When it is described probe guidance set lower end with detect surface contact.
2. detection robot according to claim 1, which is characterized in that the probe guidance set includes directive wheel, institute
State the lower end that directive wheel is located at the probe guidance set.
3. detection robot according to claim 2, which is characterized in that the probe guidance set further includes guiding connection
Bar, the directive wheel are rotatably arranged on the guide connecting rod, and the guide connecting rod is obliquely and towards close to the spy
The direction of head assembly extends.
4. detection robot according to claim 3, which is characterized in that the probe guidance set further includes guiding installation
Plate, the upper end of the guide connecting rod are connect with the guiding mounting plate, and the guiding mounting plate is connect with the probe assembly,
The outer end downward bending of the guiding mounting plate.
5. detection robot according to any one of claim 1 to 4, which is characterized in that the probe assembly includes: to visit
Head ontology and probe mounting bracket, the probe body are movably arranged in the probe mounting bracket.
6. detection robot according to claim 5, which is characterized in that it is provided with screw hole in the probe mounting bracket,
The probe body is threadedly coupled with the screw hole.
7. detection robot according to claim 4, which is characterized in that the quantity of the probe guidance set is at least two
Group is separately positioned on the two sides of the probe assembly.
8. detection robot according to any one of claim 1 to 4, which is characterized in that the testing agency further include:
Horizontal slide rail and slide unit, the slide unit are movably arranged in the horizontal slide rail, the damping and the cunning
Dynamic component connection.
9. detection robot according to claim 8, which is characterized in that the damping includes vertical shift guide rod, described
Vertical shift guide rod is movably arranged on the slide unit and it can vertically be moved on the slide unit.
10. detection robot described in any one of according to claim 1 to 4 and 6,7,9, which is characterized in that the machine
The bottom of human agent is provided with magnetic part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910599477.9A CN110238814A (en) | 2019-07-04 | 2019-07-04 | A kind of detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910599477.9A CN110238814A (en) | 2019-07-04 | 2019-07-04 | A kind of detection robot |
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| CN110238814A true CN110238814A (en) | 2019-09-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910599477.9A Pending CN110238814A (en) | 2019-07-04 | 2019-07-04 | A kind of detection robot |
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| CN (1) | CN110238814A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111878691A (en) * | 2020-08-03 | 2020-11-03 | 浙江具京科技发展有限公司 | Guiding device of metal surface defect detecting instrument |
| CN112591051A (en) * | 2020-12-23 | 2021-04-02 | 上海交通大学 | Movable guide rail suitable for underwater operation tool, underwater robot and operation method |
| CN113588775A (en) * | 2020-04-30 | 2021-11-02 | 新疆金风科技股份有限公司 | Detection device |
| WO2022083463A1 (en) * | 2020-10-22 | 2022-04-28 | 苏交科集团股份有限公司 | Magnetic adsorption-type steel bridge coating thickness inspection device |
| CN114894141A (en) * | 2022-05-07 | 2022-08-12 | 淮北兴业建设工程项目管理有限公司 | Height measuring device for horizontal reinforcing steel bar frame for water conservancy construction |
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