CN110790185A - Conveying device for rotor weld joint detection robot - Google Patents
Conveying device for rotor weld joint detection robot Download PDFInfo
- Publication number
- CN110790185A CN110790185A CN201911075829.7A CN201911075829A CN110790185A CN 110790185 A CN110790185 A CN 110790185A CN 201911075829 A CN201911075829 A CN 201911075829A CN 110790185 A CN110790185 A CN 110790185A
- Authority
- CN
- China
- Prior art keywords
- limiting
- rotor
- limiting rod
- elastic
- base
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0625—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement with wheels for moving around the floor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
Abstract
The invention discloses a conveying device for a rotor weld joint detection robot, which comprises a movable lifting mechanism and a limiting platform mechanism positioned above the movable lifting mechanism, wherein the movable lifting mechanism comprises a base, a driving assembly arranged above the base and used for driving the limiting platform mechanism to lift, and a moving assembly arranged below the base, and the limiting platform mechanism comprises a limiting platform, a detection positioning device and a robot fixing device which are arranged above the limiting platform, and rough adjusting limiting assemblies arranged on two sides of the limiting platform and used for clamping wheel grooves on two sides of a rotor weld joint. The conveying device for the rotor weld joint detection robot, disclosed by the invention, has the advantages that the rotor weld joint detection robot is simply and accurately placed, and the difficulty and inconvenience caused by manual placement can be avoided.
Description
Technical Field
The invention relates to the technical field of nondestructive testing of in-service steam turbines, in particular to a conveying device for a rotor weld joint detection robot.
Background
The welded rotor of the steam turbine, which is one of the important devices of the nuclear power plant, has a compact structure and a large operation load, and has very high requirements on the welding process between the rotors and the flaw detection thereof. In order to ensure the safety and reliability of the rotor in high-speed operation, the regular and efficient in-service inspection of the welding joint is of great importance. Due to the limitation of the size of the in-service steam turbine rotor blade, during manual conventional ultrasonic detection, a plurality of detection positions cannot be reached, and the detection cannot be accurately and efficiently implemented. Aiming at the automatic inspection of a welded rotor, the original foreign detection process mostly adopts a fixed mechanical arm for detection, the scheme has a simple structure and a mature technology, but the detection mode needs to frequently dial the rotor, the rotor shaft neck is easily abraded and the rotor moves, and the construction site has more requirements. With the continuous development of various welding seam detection robots by various detection manufacturers abroad aiming at the detection of large-size and large-depth welding seams, the automatic detection of the turbine welding rotor is not limited to the detection mode of a fixed mechanical arm, and the magnetic adsorption welding seam detection robot is applied to the detection of the rotor welding seams. Compared with the traditional mechanical arm detection mode, the welding seam detection robot has small requirement on a detection field, small damage to the rotor shaft neck and convenient implementation of field detection.
When conventional equipment used the welding seam detection robot to detect, generally carried out the accuracy according to the welding seam position and placed, but turbine rotor welding seam both sides race interval is little, the blade is bulky, and personnel get into comparatively difficultly, and detection robot has certain weight, places detection robot in the assigned position more difficultly, and the manual work places the in-process, and personnel collide with easily, collide with, the fish tail to the blade.
Disclosure of Invention
In view of the above, in order to overcome the defects of the prior art, the present invention provides a conveying device for a rotor weld inspection robot, which is simple and accurate in placing the inspection robot, and can avoid the difficulty and inconvenience caused by manual placing.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a conveyor for rotor welding seam inspection robot, is including removing elevating system and being located remove the spacing platform mechanism of elevating system top, remove elevating system include the base, set up in the base top is used for the drive spacing platform mechanism goes up and down drive assembly and set up in the removal subassembly of base below, spacing platform mechanism include spacing platform, set up in the detection positioner and the robot fixing device of spacing platform top and set up in spacing platform both sides are used for blocking the spacing subassembly of coarse adjustment of rotor welding seam both sides race. Rotor welding seam inspection robot arranges spacing platform in and fixes with robot fixing device, the removal subassembly removes whole conveyor to waiting to detect welding seam position below, the spacing subassembly of coarse adjustment makes conveyor block just between waiting to detect the race of welding seam both sides, thereby drive assembly drive spacing platform promotes to rotor race interval with rotor welding seam inspection robot inside, the spacing platform promotes to the assigned position after detecting positioner fixes a position the welding seam, robot fixing device opens, rotor welding seam inspection robot adsorbs detects to the assigned position, it is simple accurate from this to place rotor welding seam inspection robot, can avoid the manual work to place the difficulty and the inconvenience brought.
In the above technical scheme, preferably, the driving assembly includes an electric push rod for pushing the limiting platform to move up and down, one end of the electric push rod is connected with the limiting platform, and the other end of the electric push rod is connected with the base. The electric push rod has small volume, light weight and large load, and can be conveniently moved and positioned.
In the above technical solution, it is further preferred that the mobile lifting mechanism further includes a lifting guide rail disposed between the base and the limiting platform. After the lifting guide rail is combined with the electric push rod, the limiting platform is lifted, and the stability is better.
In the above technical solution, preferably, the number of the lifting guide rails is plural, the electric push rod is located between the plurality of lifting guide rails, and the moving direction of the electric push rod is parallel to the moving direction of the lifting guide rails. The lifting guide rails are arranged in a plurality of numbers, and the electric push rods are positioned among the lifting guide rails, so that the lifting of the movable lifting mechanism is more stable.
In the above technical solution, preferably, the robot fixing device includes a rotatable lock and a motor for driving the rotatable lock, and the rotatable lock has a clamping part for clamping the rotor weld detection robot. The motor drives the rotatable lock catch to complete clamping and releasing of the clamping part of the rotatable lock catch to the rotor weld joint detection robot, the clamping part is closed to hook the bottom of the rotor weld joint detection robot and is fixed, and the detection robot can be taken down or released to work after the clamping part is opened.
In the above technical scheme, preferably, each coarse adjustment limiting component includes an elastic limiting rod component arranged in parallel with the side edge of the limiting platform, limiting wheels are arranged at two ends of the elastic limiting rod component, and rolling surfaces of the two limiting wheels of each coarse adjustment limiting component are used for abutting against the corresponding side rotor weld wheel groove. The elastic limiting rod assembly of each coarse adjustment limiting assembly has elasticity, and the limiting wheels at two ends of the elastic limiting rod assembly are tightly propped against the corresponding side rotor welding seam grooves under the action of the elastic force of the elastic limiting wheel assembly, so that the whole conveying device is just and stably positioned between the wheel grooves at two sides of the rotor welding seam.
In the above technical scheme, it is further preferred that the elastic limiting rod assembly includes an elastic member and limiting rods disposed at two ends of the elastic member, one end of each limiting rod abuts against the elastic member and the other end is connected with the limiting wheel, and the length extending direction of the elastic member is consistent with the length extending direction of the side of the limiting platform. The limiting rods at two ends of the elastic part are outwards popped out or inwards compressed under the elastic action of the elastic part, and the rolling surfaces of the limiting wheels at the other end of the limiting rods are tightly propped against the corresponding side rotor welding seam grooves.
In the above technical solution, it is further preferable that the elastic limiting rod assembly further includes a locking device for engaging with each of the limiting rods, the limiting rods are provided with first threads, the locking device is provided with second threads engaging with the first threads, and the locking device is shifted to separate and engage the second threads and the first threads, thereby moving and positioning each of the limiting rods. Through setting up the locking device with gag lever post complex, and all be provided with the screw thread of mutually supporting on locking device and the gag lever post, stir locking device and can realize the separation and the combination of second screw thread and first screw thread, stir locking device and when second screw thread and first screw thread separation, each gag lever post outwards pops out or inwards compresses and removes under the elastic force effect of elastic component and spacing wheel and the corresponding side rotor weld seam groove of each gag lever post tip at this moment offsets tightly and immediately stirs locking device in the opposite direction once more and makes locking device and each gag lever post locking realize the location of each gag lever post again.
In the foregoing technical solution, it is further preferable that the elastic limiting rod assembly further includes an outer sleeve sleeved on the periphery of the elastic limiting rod assembly, the outer sleeve and the elastic limiting rod assembly are coaxially disposed, the outer sleeve is provided with a mounting groove for mounting each locking device, the locking device has a mounting hole penetrating through the locking device in the thickness direction, the locking device is mounted in the mounting groove through a bending piece penetrating through the mounting hole, and the locking device can turn around the bending piece to separate and combine the second thread and the first thread. The above specifically describes the installation manner of the locking device and how to realize the locking and releasing of the locking device and the limiting rod.
In the above technical solution, it is still further preferable that one end of each limiting rod, which is used for abutting against the elastic member, is provided with a limiting rod position indicating column assembly, the limiting rod position indicating column assembly includes a base and a position indicating column located on the base, the base abuts against an end of the elastic member, a sliding groove for sliding each position indicating column is formed in the outer sleeve, and a length extending direction of the sliding groove is consistent with a length extending direction of the outer sleeve. The limiting rod position indication column assembly is arranged at one end, abutted to the elastic part, of each limiting rod, the base of the limiting rod position indication column assembly is abutted to the elastic part, the position indication column of the limiting rod position indication column assembly can slide in the sliding groove formed in the outer sleeve under the action of the elastic part, and therefore the limiting rod position indication column can indicate the stretching amount of the limiting rod.
Compared with the prior art, the invention has the advantages that: according to the conveying device for the rotor weld joint detection robot, the rotor weld joint detection robot is placed on the limiting platform and is fixed by the robot fixing device, the whole conveying device is moved to the position below the position of the weld joint to be detected by the moving assembly, the limiting assembly is roughly adjusted to enable the conveying device to be clamped between wheel grooves on two sides of the weld joint to be detected, the driving assembly drives the limiting platform to lift, so that the rotor weld joint detection robot is lifted to the inner part of the rotor wheel groove interval, the limiting platform is lifted to the designated position after the detection positioning device positions the weld joint, the detection robot fixing device is opened, and the rotor weld joint detection robot is adsorbed to the designated position to perform detection.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a front view of a conveyor for a rotor weld inspection robot in a preferred embodiment of the present invention;
FIG. 2 is a side view of a conveyor for a rotor weld inspection robot in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a robot fixing device in a conveying device for a rotor weld inspection robot in the preferred embodiment of the invention;
FIG. 4 is a schematic structural diagram of a first view angle of a coarse adjustment limiting assembly in a conveying device for a rotor weld inspection robot according to a preferred embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a second view angle of a coarse adjustment limiting assembly in a conveying device for a rotor weld inspection robot according to a preferred embodiment of the present invention;
FIG. 6 is an exploded view of a coarse adjustment limit assembly of a conveyor for a rotor weld inspection robot according to the preferred embodiment of the present invention;
fig. 7 is a schematic structural diagram of a locking device in a conveying device for a rotor weld inspection robot in the preferred embodiment of the invention.
Wherein: a mobile lifting mechanism-100, a base-101, a universal wheel-102, an electric push rod-103, a lifting guide rail-104, a limit platform mechanism-200, a limit platform-201, a detection positioning device-202, a robot fixing device-203, a clamping part-2030, the device comprises a rotatable lock catch-2031, a motor-2032, a coarse adjustment limiting component-204, a limiting wheel-2040, an elastic piece-2041, a limiting rod-2042, a locking device-2043, an outer sleeve-2044, an installation groove-2045, an installation hole-2046, a bending piece-2047, a base-2048, a position indication column-2049, a sliding groove-2050, a threaded installation hole-2051, a screw-2052, a welding rotor-300, a rotor weld joint detection robot-400 and a push handle-500.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not a whole embodiment. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and fig. 2, the conveying device for a rotor weld inspection robot of the present embodiment is used for conveying a rotor weld inspection robot 400 to a designated position to inspect a rotor weld, and when in use, the conveying device needs to be moved into wheel grooves on two sides of a weld of a welding rotor 300, and the conveying device includes a moving lifting mechanism 100 and a limit platform mechanism 200 located above the moving lifting mechanism 100.
The limiting platform mechanism 200 comprises a limiting platform 201, a detection positioning device 202 and a robot fixing device 203 which are arranged above the limiting platform 201, and coarse adjusting limiting components 204 which are arranged on two sides of the limiting platform 201 and used for clamping wheel grooves on two sides of a welding seam of the rotor. In this embodiment, the detection positioning device 202 is a laser emitter, and is used for accurately positioning the lifting position of the limiting platform 201 and the working position of the rotor weld seam detection robot 400.
Referring to fig. 3, the robot fixing device 203 includes a rotatable lock 2031, and a motor 2032 for driving the rotatable lock 2031, and specifically, the rotatable lock 2031 is in a "Z" shape having a clamping portion 2030 for clamping the rotor weld detecting robot 400. The motor 2032 drives the rotatable lock 2031 to complete the clamping and releasing of the clamping part 2030 to the rotor weld inspection robot 400, the clamping part 2030 is closed to hook the bottom of the rotor weld inspection robot 400 and fix the same, and the rotor weld inspection robot 400 can be taken down or released to perform inspection after the clamping part 2030 is opened.
With reference to fig. 4 to 7, each coarse adjustment limiting component 204 includes an elastic limiting rod component arranged parallel to the side edge of the limiting platform 201, two ends of the elastic limiting rod component are provided with limiting wheels 2040, and the rolling surfaces of the two limiting wheels 2040 of each coarse adjustment limiting component 204 are used for abutting against the corresponding side rotor weld wheel groove. The elastic limiting rod assembly comprises an elastic member 2041 and limiting rods 2042 arranged at two ends of the elastic member 2041, one end of each limiting rod 2042 abuts against the elastic member 2041, the other end of each limiting rod is connected with a limiting wheel 2040, and the length extending direction of the elastic member 2041 is consistent with the length extending direction of the side edge of the limiting platform 201. Each coarse adjustment limiting component 204 further comprises a locking device 2043 used for being matched with each limiting rod 2042, a first thread is arranged on each limiting rod 2042, a second thread matched with the first thread is arranged on each locking device 2043, and the locking device 2043 is shifted to separate and combine the second thread and the first thread, so that each limiting rod 2042 is popped up and positioned. Elastic limiting rod subassembly is still located elastic limiting rod subassembly outlying outer tube 2044 including the cover, outer tube 2044 and the coaxial setting of elastic limiting rod subassembly, outer tube 2044 offers the mounting groove 2045 that is used for installing each locking device 2043, locking device 2043 has the mounting hole 2046 that runs through its thickness direction, locking device 2043 installs in mounting groove 2045 through the piece of bending 2047 of wearing to establish in its mounting hole 2046, locking device 2043 can overturn in order to realize the separation and the combination of second screw thread and first screw thread around the piece of bending 2047. Each gag lever post 2042 is used for supporting the one end tight with elastic component 2041 and is provided with gag lever post position indication post subassembly, gag lever post position indication post subassembly includes base 2048 and is located the position indication post 2049 on the base 2048, base 2048 offsets tightly with the tip of elastic component 2041, offer on the outer tube 2044 and be used for supplying each gliding spout 2050 of position indication post 2049, the length extending direction of spout 2050 is unanimous with the length extending direction of outer tube 2044, the position of base 2048 and outer tube 2044 internal contact matches each other and has certain radian, make things convenient for it to slide in outer tube 2044. In addition, a threaded mounting hole 2051 is formed in the back surface of the outer sleeve 2044 (i.e., the surface opposite to the locking device 2043), and each coarse adjustment limiting component 204 is mounted on the side surface of the limiting platform 201 by a screw 2052 inserted into the threaded mounting hole 2051. The locking device 2043 is shifted to eject or compress the limiting rods outwards or inwards under the elastic action of the elastic piece 2041 to move the limiting wheels 2040 at the end of each limiting rod 2042 to abut against the corresponding side rotor weld joint grooves at the moment, and then the locking device 2043 is shifted in the opposite direction again to enable the locking device 2043 to be locked with each limiting rod 2042 through matching of the second threads and the first threads, so that the positioning of each limiting rod 2042 is realized.
Wherein, remove elevating system 100 including base 101, set up the drive assembly who is used for driving spacing platform mechanism 200 to go up and down in base 101 top, and set up the removal subassembly in base 101 below, it includes universal wheel 102 to remove the subassembly, drive assembly is including setting up electric push rod 103 and the lifting guide rail 104 between base 101 and spacing platform 201, the quantity of lifting guide rail 104 is four, electric push rod 103 is located between four lifting guide rail 104, lifting guide rail 104 promotes spacing platform 201 after the combination of electric push rod 103, stability is better. The universal wheel 102 has a locking function. In order to move the transportation device on the ground, a push handle 500 is further provided at one side of the base 101.
The working principle is as follows: rotor welding seam inspection robot 400 places on spacing platform 201 and fixes with robot fixing device 203, the removal subassembly removes whole conveyor to wait to detect welding seam position below, coarse adjustment spacing subassembly 204 makes conveyor block just between waiting to detect the race of welding seam both sides, drive assembly drive spacing platform 201 promotes thereby to promote rotor welding seam inspection robot 400 to rotor race interval inside, spacing platform 201 promotes to the assigned position after detecting positioner 202 fixes a position the welding seam, inspection robot fixing device 203 opens, rotor welding seam inspection robot 400 adsorbs to the assigned position and detects, place rotor welding seam inspection robot from this simply accurate, can avoid artifical difficulty and inconvenience of placing and bringing.
The above embodiments are merely illustrative of the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the content of the present invention and implement the invention, and not to limit the scope of the invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the scope of the present invention.
Claims (10)
1. The utility model provides a conveyor for rotor welding seam inspection robot, a serial communication port, including removing elevating system and being located remove the spacing platform mechanism of elevating system top, remove elevating system include the base, set up in the base top is used for the drive spacing platform mechanism goes up and down drive assembly and set up in the removal subassembly of base below, spacing platform mechanism include spacing platform, set up in the detection and positioning device and the robot fixing device of spacing platform top and set up in spacing platform both sides are used for blocking the spacing subassembly of coarse adjustment of rotor welding seam both sides race.
2. The conveying device for the rotor weld joint detection robot according to claim 1, wherein the driving assembly comprises an electric push rod for pushing the limiting platform to move up and down, one end of the electric push rod is connected with the limiting platform, and the other end of the electric push rod is connected with the base.
3. The transportation device for the rotor weld inspection robot according to claim 2, wherein the movable lifting mechanism further comprises a lifting guide rail disposed between the base and the limiting platform.
4. The conveying device for the rotor weld detecting robot according to claim 3, wherein the number of the lifting guide rails is plural, the electric push rod is located between the plural lifting guide rails, and the moving direction of the electric push rod is parallel to the extending and retracting direction of the lifting guide rails.
5. The transfer device for a rotor weld inspection robot according to claim 1, wherein the robot fixing device includes a rotatable lock having a chucking part for chucking the rotor weld inspection robot and a motor for driving the rotatable lock.
6. The conveying device for the rotor weld detecting robot according to any one of claims 1 to 5, wherein each coarse adjustment limiting assembly comprises an elastic limiting rod assembly arranged in parallel with the side edge of the limiting platform, limiting wheels are arranged at two ends of the elastic limiting rod assembly, and the rolling surfaces of the two limiting wheels of each coarse adjustment limiting assembly are used for abutting against corresponding side rotor weld wheel grooves.
7. The conveying device for the rotor weld detecting robot according to claim 6, wherein the elastic limiting rod assembly comprises an elastic part and limiting rods arranged at two ends of the elastic part, one end of each limiting rod abuts against the elastic part, the other end of each limiting rod is connected with a limiting wheel, and the length extending direction of the elastic part is consistent with the length extending direction of the limiting rods.
8. The conveying device for the rotor weld joint detection robot according to claim 7, wherein the elastic limiting rod assembly further comprises a locking device used for being matched with each limiting rod, first threads are arranged on the limiting rods, second threads matched with the first threads are arranged on the locking device, and the locking device is shifted to separate and combine the second threads and the first threads so as to move and position each limiting rod.
9. The conveying device for the rotor weld detecting robot according to claim 8, wherein the elastic limiting rod assembly further comprises an outer sleeve sleeved on the periphery of the elastic limiting rod assembly, the outer sleeve and the elastic limiting rod assembly are coaxially arranged, the outer sleeve is provided with a mounting groove for mounting each locking device, the locking device is provided with a mounting hole penetrating through the locking device in the thickness direction, the locking device is mounted in the mounting groove through a bending piece penetrating through the mounting hole, and the locking device can rotate around the bending piece to realize the separation and combination of the second thread and the first thread.
10. The conveying device for the rotor weld joint detection robot according to claim 9, wherein one end of each limiting rod, which is used for abutting against the elastic member, is provided with a limiting rod position indicating column assembly, the limiting rod position indicating column assembly comprises a base and a position indicating column positioned on the base, the base abuts against the end of the elastic member, a sliding groove for sliding each position indicating column is formed in the outer sleeve, and the length extending direction of the sliding groove is consistent with the length extending direction of the outer sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911075829.7A CN110790185B (en) | 2019-11-06 | 2019-11-06 | Conveying device for rotor weld joint detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911075829.7A CN110790185B (en) | 2019-11-06 | 2019-11-06 | Conveying device for rotor weld joint detection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110790185A true CN110790185A (en) | 2020-02-14 |
| CN110790185B CN110790185B (en) | 2021-02-12 |
Family
ID=69443256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911075829.7A Active CN110790185B (en) | 2019-11-06 | 2019-11-06 | Conveying device for rotor weld joint detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110790185B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB724511A (en) * | 1950-11-15 | 1955-02-23 | Joseph Bradbury And Sons Ltd | Improvements in and relating to lifting appliances |
| US4247922A (en) * | 1978-10-12 | 1981-01-27 | Harris Corporation | Object position and condition detection system |
| JPH10277976A (en) * | 1997-04-07 | 1998-10-20 | Fujita Corp | Remote control system |
| CN101021212A (en) * | 2006-06-23 | 2007-08-22 | 贵州力源液压股份有限公司 | Electric control method and electric control device for plunger variable hydraulic pump |
| CN103760178A (en) * | 2014-01-06 | 2014-04-30 | 北京恒正精机科技有限责任公司 | X-ray detection robot for weld seam of storage tank |
| CN103985424A (en) * | 2014-05-29 | 2014-08-13 | 中广核检测技术有限公司 | Nuclear reactor pressure vessel nondestructive detection robot and detection method thereof |
| CN205218584U (en) * | 2015-11-19 | 2016-05-11 | 石台县熠翔机械制造有限公司 | A anchor clamps for screw rod processing |
| CN108230886A (en) * | 2016-12-10 | 2018-06-29 | 西安丰登农业科技有限公司 | A kind of Intelligent telescopic mechanism for orchard Sign Board |
| CN109250646A (en) * | 2018-10-25 | 2019-01-22 | 滨州学院 | A kind of radiographic inspection machine people |
| CN208491498U (en) * | 2018-03-22 | 2019-02-15 | 苏州荣世吉自动化设备有限公司 | Edible mushroom multiple layer up-down bidirectional swinging Tui Kuang mechanism |
-
2019
- 2019-11-06 CN CN201911075829.7A patent/CN110790185B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB724511A (en) * | 1950-11-15 | 1955-02-23 | Joseph Bradbury And Sons Ltd | Improvements in and relating to lifting appliances |
| US4247922A (en) * | 1978-10-12 | 1981-01-27 | Harris Corporation | Object position and condition detection system |
| JPH10277976A (en) * | 1997-04-07 | 1998-10-20 | Fujita Corp | Remote control system |
| CN101021212A (en) * | 2006-06-23 | 2007-08-22 | 贵州力源液压股份有限公司 | Electric control method and electric control device for plunger variable hydraulic pump |
| CN103760178A (en) * | 2014-01-06 | 2014-04-30 | 北京恒正精机科技有限责任公司 | X-ray detection robot for weld seam of storage tank |
| CN103985424A (en) * | 2014-05-29 | 2014-08-13 | 中广核检测技术有限公司 | Nuclear reactor pressure vessel nondestructive detection robot and detection method thereof |
| CN205218584U (en) * | 2015-11-19 | 2016-05-11 | 石台县熠翔机械制造有限公司 | A anchor clamps for screw rod processing |
| CN108230886A (en) * | 2016-12-10 | 2018-06-29 | 西安丰登农业科技有限公司 | A kind of Intelligent telescopic mechanism for orchard Sign Board |
| CN208491498U (en) * | 2018-03-22 | 2019-02-15 | 苏州荣世吉自动化设备有限公司 | Edible mushroom multiple layer up-down bidirectional swinging Tui Kuang mechanism |
| CN109250646A (en) * | 2018-10-25 | 2019-01-22 | 滨州学院 | A kind of radiographic inspection machine people |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110790185B (en) | 2021-02-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112007875A (en) | A multi-angle encapsulation detection device for stator core | |
| CN110790185B (en) | Conveying device for rotor weld joint detection robot | |
| CN113586361B (en) | Nondestructive testing device for testing portable wind power generation equipment | |
| CN111515569B (en) | Robot welding production line for large-scale structure of crane | |
| CN116519714B (en) | Metal surface defect detection device | |
| KR102527873B1 (en) | Eddy current test signal collection device for heat exchanger tube | |
| CN212703122U (en) | A multi-angle encapsulation detection device for stator core | |
| CN208580158U (en) | A kind of detection device of electric automatization equipment | |
| CN219285097U (en) | Welding seam detection device for steel construction engineering | |
| CN107389800B (en) | Non-magnetic metal sheet welding seam ultrasonic scanning device | |
| CN219319230U (en) | Thrust ball bearing ring size detection device | |
| CN216987773U (en) | Electronic information science and technology test platform | |
| CN219996914U (en) | Workpiece surface defect detector | |
| CN212052367U (en) | Quick centering device for rubber support | |
| CN110806173A (en) | Automatic change movable platform frame-type fixed point braking photoelectric detection mechanism | |
| CN217846123U (en) | Detection device for processing steam turbine rotor | |
| CN220894182U (en) | Device for aviation welding catheter ray inspection | |
| CN217168148U (en) | Composite centering positioning mechanism | |
| CN116893181A (en) | Auxiliary device for detecting defects of sapphire crystal bars | |
| CN215572609U (en) | Precision bearing parameter detection device | |
| CN217980271U (en) | Quality detection equipment for wind power tower parts | |
| CN220305195U (en) | Lithium battery detection device based on X-ray | |
| CN219347574U (en) | Rotary table for inspecting round runout and surface runout of parts | |
| CN216668543U (en) | Roundness detection device for bearing machining | |
| CN211317720U (en) | Special device for verifying rotation precision of telescopic sleeve of nuclear power station material loading and unloading machine |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |