CN111283379A - Automatic repair device and method for boiler heated surface pipe high-temperature corrosion site - Google Patents
Automatic repair device and method for boiler heated surface pipe high-temperature corrosion site Download PDFInfo
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- CN111283379A CN111283379A CN202010196244.7A CN202010196244A CN111283379A CN 111283379 A CN111283379 A CN 111283379A CN 202010196244 A CN202010196244 A CN 202010196244A CN 111283379 A CN111283379 A CN 111283379A
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- 230000008439 repair process Effects 0.000 title claims abstract description 44
- 230000007797 corrosion Effects 0.000 title claims abstract description 25
- 238000005260 corrosion Methods 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007547 defect Effects 0.000 claims abstract description 64
- 238000004140 cleaning Methods 0.000 claims abstract description 38
- 230000009194 climbing Effects 0.000 claims abstract description 38
- 238000012806 monitoring device Methods 0.000 claims abstract description 33
- 238000005259 measurement Methods 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 230000009471 action Effects 0.000 claims abstract description 5
- 230000000007 visual effect Effects 0.000 claims abstract description 5
- 230000008569 process Effects 0.000 claims abstract description 4
- 238000010438 heat treatment Methods 0.000 claims description 16
- 238000003466 welding Methods 0.000 claims description 9
- 238000003384 imaging method Methods 0.000 claims description 5
- 238000012634 optical imaging Methods 0.000 claims description 5
- 238000005488 sandblasting Methods 0.000 claims description 5
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 3
- 229910052786 argon Inorganic materials 0.000 claims description 2
- 239000000463 material Substances 0.000 claims description 2
- 238000007751 thermal spraying Methods 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000010248 power generation Methods 0.000 description 6
- 239000000428 dust Substances 0.000 description 3
- 239000002028 Biomass Substances 0.000 description 2
- ZAMOUSCENKQFHK-UHFFFAOYSA-N Chlorine atom Chemical compound [Cl] ZAMOUSCENKQFHK-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000000460 chlorine Substances 0.000 description 2
- 229910052801 chlorine Inorganic materials 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 description 1
- 229910052783 alkali metal Inorganic materials 0.000 description 1
- -1 alkali metal salt Chemical class 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 239000011593 sulfur Substances 0.000 description 1
- 229910052717 sulfur Inorganic materials 0.000 description 1
- 238000004056 waste incineration Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P6/00—Restoring or reconditioning objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/023—Cleaning the external surface
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8854—Grading and classifying of flaws
- G01N2021/8874—Taking dimensions of defect into account
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- Computer Vision & Pattern Recognition (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses an automatic repair device and a method for a boiler heated surface pipe high-temperature corrosion site, wherein the automatic repair device comprises a pipe wall surface cleaning device, a pipe wall surface real-time monitoring device and a pipe wall surface defect repair device which are fixedly connected with a pipe wall climbing robot driven by a motor through a clamping fixture; the electric energy supply and control system provides required electric energy for other components and controls the actions of the other components in real time; the pipe wall climbing robot carries a pipe wall surface cleaning device, a pipe wall surface real-time monitoring device and a pipe wall surface defect repairing device respectively to carry out automatic repairing work on the surface of a pipeline to be repaired; through the cooperation of the real-time camera system and the climbing robot, the measurement of the properties and the sizes of the defects, the real-time monitoring of the repairing process and the visual detection of the repaired appearance quality can be realized. The automation degree is high, the stability of the repair quality is high, remote operation can be realized, and only personnel are needed to operate the control system. The repair efficiency can be greatly improved by using a plurality of systems together.
Description
Technical Field
The invention relates to the technical field of high-temperature corrosion defect repair of a heating surface pipe of a power generation boiler, in particular to an on-site automatic repair device and method for high-temperature corrosion defects of the heating surface pipe of the power generation boiler.
Background
The heating surface formed by the metal pipelines is widely applied to the important energy field of national civilian life, such as thermal power generation boilers, nuclear power devices and the like. Under the operating conditions of thermal power generation, the outside of the pipe wall usually bears the high-temperature impact of flame, the high-temperature corrosion action of sulfur-containing atmosphere, and the corrosion action of high-temperature high-pressure water vapor received inside the pipe wall. Particularly under thermal power generation working conditions such as biomass and waste incineration, the corrosion of high-temperature chlorine-containing gas and chlorine-containing alkali metal salt generated in the combustion process to the pipe wall of the heating surface is remarkably accelerated, the risk of safety accidents such as pipe explosion caused by corrosion defects is remarkably increased, and the service life of the heating surface pipeline is remarkably shortened. Repairing the hot corrosion defect of the heating surface in the boiler overhaul period by conventional technologies such as welding and the like is an important means for prolonging the service life of the heating surface pipeline and reducing the occurrence frequency of safety accidents, and is also a mainstream means for prolonging the service life at present. At present, the mode adopted mainly comprises the steps of carrying out sand blasting cleaning and corrosion defect screening on a heating surface manually, carrying out welding repair and postweld treatment manually in an arc welding mode, and having great labor intensity, and because a large amount of dust and smoke caused by sand blasting and welding in the field repair process can not be effectively removed through a dust removal device in off-line repair, even though labor protection equipment is equipped, the working environment of personnel is still extremely bad, and the health of personnel is threatened. On the other hand, in order to ensure the power supply and economic benefits, the time allowed for maintenance is extremely limited, thus causing the work enhancement to be further improved and the quality stability of repair to be affected. When biomass, garbage and other incineration power generation technologies are vigorously developed in China, the task of repairing the heating surface of a power plant is further aggravated. Therefore, the development of the on-line automatic repair device for the heating surface of the boiler with the automatic and intelligent functions is an effective strategy for solving the dilemma.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention aims to provide a device and a method for automatically repairing a boiler heating surface pipe on a high-temperature corrosion site, and solves the problems of severe labor environment, high labor intensity and low stability of repairing quality when the defects of the heating surface of a power plant boiler are repaired manually.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a high-temperature corrosion on-site automatic repair device for a boiler heated surface pipe comprises a pipe wall climbing robot 1, a pipe wall surface cleaning device 2, a pipe wall surface real-time monitoring device 3, a pipe wall surface defect repair device 4 and an electric energy supply and control system 6;
the pipe wall surface cleaning device 2, the pipe wall surface real-time monitoring device 3 and the pipe wall surface defect repairing device 4 are fixedly connected with the pipe wall climbing robot 1 driven by the motor through a clamping fixture; the electric energy supply and control system 6 is connected with the pipe wall climbing robot 1, the pipe wall surface cleaning device 2, the pipe wall surface real-time monitoring device 3 and the pipe wall surface defect repairing device 4, and supplies required electric energy to the pipe wall climbing robot 1, the pipe wall surface cleaning device 2, the pipe wall surface real-time monitoring device 3 and the pipe wall surface defect repairing device 4 and controls the actions of the electric energy in real time; the pipe wall climbing robot 1 carries a pipe wall surface cleaning device 2, a pipe wall surface real-time monitoring device 3 and a pipe wall surface defect repairing device 4 respectively to carry out automatic repairing work on the surface of a pipeline 5 to be repaired.
The pipe wall climbing robot 1 is a commercial pipe wall climbing robot, and climbing and rotation of the outer wall of the pipeline 5 to be repaired are achieved through radial and axial rollers.
The pipe wall surface cleaning device 2 is a sand blasting surface cleaning device or a galvanometer pulse laser cleaning device.
The pipe wall surface real-time monitoring device 3 realizes real-time imaging of the pipe wall defect condition of the pipeline 5 to be repaired through an optical imaging system, and completes measurement of the defect size, real-time observation of the repairing process and visual detection of the repaired defect through measurement of the side image of the electric energy supply and control system 6.
The pipe wall surface defect repairing device 4 selects a portable argon arc welding device or a microbeam plasma thermal spraying device according to the material, service working condition and operation space of the pipe wall of the pipeline to be repaired.
The automatic repairing method for the automatic repairing device for the high-temperature corrosion site of the boiler heated surface pipe comprises the following steps of:
the method comprises the following steps: the method comprises the steps of installing a high-temperature corrosion on-site automatic repairing device of a heated surface pipe on a to-be-repaired heated surface site, fixing a pipe wall climbing robot 1 loaded with a pipe wall surface cleaning device 2, a pipe wall surface real-time monitoring device 3 and a pipe wall surface defect repairing device 4 on the surface of a to-be-repaired pipe 5, connecting signal lines of the pipe wall climbing robot 1, the pipe wall surface cleaning device 2, the pipe wall surface real-time monitoring device 3 and the pipe wall surface defect repairing device 4 with an electric energy supply and control system 6, and preparing and installing the devices;
the pipe wall climbing robot 1 is linked with the pipe wall surface cleaning device 2, and the pipe wall of the pipeline 5 to be repaired is continuously cleaned in the electric energy supply and control system 6 by selecting a continuous working mode;
step three: after cleaning, measuring the defect property and size through linkage of the pipe wall climbing robot 1, the pipe wall surface real-time monitoring device 3 and the pipe wall surface defect repairing device 4, wherein the pipe wall surface real-time monitoring device 3 realizes real-time imaging of the pipe wall defect condition of the pipeline 5 to be repaired through an optical imaging system and transmits the image of the defect to the electric energy supply and control system 6, and then the image of the electric energy supply and control system 6 side is measured; giving out repair strategies and repair parameters by comparing databases in the electric energy supply and control system 6, starting a repair device, completing the repair of the defects in a welding or spraying mode, and visually evaluating the quality of the repaired defect part in a human-computer interface of the electric energy supply and control system 6 by the observation result of the repaired surface of the pipe wall surface real-time monitoring device 3 to complete the repair of the defect point;
step four: and repeating the three steps to finish the automatic repair of all defect points.
Compared with the prior art, the invention has the following advantages:
1. through the cooperation of the pipe wall surface real-time monitoring device and the pipe wall climbing robot, the measurement of the properties and the sizes of the defects, the real-time monitoring of the repair process and the visual detection of the repaired appearance quality can be realized.
2. The automation degree is high, the stability of the repair quality is high, remote operation can be realized, and only personnel are needed to operate the control system.
3. The repair efficiency can be greatly improved by using a plurality of systems together.
4. The vibrating mirror pulse laser cleaning device can be selected to replace the traditional sand blasting cleaning mode, and a large amount of dust is prevented from being generated in the field environment.
Drawings
FIG. 1 is a schematic structural view of an automatic on-site repairing device for high-temperature corrosion of a heated surface pipe of a boiler.
Description of reference numerals:
1-a pipe wall climbing robot; 2-a pipe wall surface cleaning device; 3-a real-time monitoring device for the surface of the pipe wall; 4-a pipe wall surface defect repairing device; 5-a pipeline to be repaired, and 6-an electric energy supply and control system.
Detailed Description
In order that the invention may be more fully understood, reference is now made to the following detailed description taken in conjunction with the accompanying drawings in which:
as shown in FIG. 1, the invention provides an automatic repair device for a boiler heated surface pipe high-temperature corrosion site, which comprises the following units: 1-a pipe wall climbing robot; 2-a pipe wall surface cleaning device; 3-a real-time monitoring device for the surface of the pipe wall; 4-a pipe wall surface defect repairing device; 5-a pipeline to be repaired, 6-an electric energy supply device and a system control system. The pipe wall climbing robot 1 is used for carrying and positioning a pipe wall surface cleaning device 2, a pipe wall surface real-time monitoring device 3 and a pipe wall surface defect repairing device 4; the power supply and control system 6 mainly functions to supply power to other devices and detect and control the system through a man-machine interface. The pipe wall climbing robot 1 and the electric energy supply and control system 6 cooperate to realize the functions of defect detection and positioning, repair process monitoring and surface visual detection after repair; the pipe wall climbing robot 1, the pipe wall surface cleaning device 2 and the electric energy supply and control system 6 cooperate to complete the cleaning work of the surface of the heating surface; the pipe wall climbing robot 1, the pipe wall surface defect repairing device 4 and the electric energy supply and control system 6 cooperate to complete the repairing work of the heating surface defect,
the repairing process of the invention is briefly described as follows:
the method comprises the following steps: the method comprises the steps of installing a high-temperature corrosion on-site automatic repairing device of a heated surface pipe on a to-be-repaired heated surface site, fixing a pipe wall climbing robot 1 loaded with a pipe wall surface cleaning device 2, a pipe wall surface real-time monitoring device 3 and a pipe wall surface defect repairing device 4 on the surface of a to-be-repaired pipe 5, connecting signal lines of the pipe wall climbing robot 1, the pipe wall surface cleaning device 2, the pipe wall surface real-time monitoring device 3 and the pipe wall surface defect repairing device 4 with an electric energy supply and control system 6, and preparing and installing the devices;
the pipe wall climbing robot 1 is linked with the pipe wall surface cleaning device 2, and the pipe wall of the pipeline 5 to be repaired is continuously cleaned in the electric energy supply and control system 6 by selecting a continuous working mode;
step three: after cleaning, measuring the defect property and size through linkage of the pipe wall climbing robot 1, the pipe wall surface real-time monitoring device 3 and the pipe wall surface defect repairing device 4, wherein the pipe wall surface real-time monitoring device 3 realizes real-time imaging of the pipe wall defect condition of the pipeline 5 to be repaired through an optical imaging system and transmits the image of the defect to the electric energy supply and control system 6, and then the image of the electric energy supply and control system 6 side is measured; giving out repair strategies and repair parameters by comparing databases in the electric energy supply and control system 6, starting a repair device, completing the repair of the defects in a welding or spraying mode, and visually evaluating the quality of the repaired defect part in a human-computer interface of the electric energy supply and control system 6 by the observation result of the repaired surface of the pipe wall surface real-time monitoring device 3 to complete the repair of the defect point;
step four: and repeating the three steps to finish the automatic repair of all defect points.
Claims (6)
1. The utility model provides a be used for on-spot automatic prosthetic devices of boiler heating surface pipe high temperature corrosion which characterized in that: the device consists of a pipe wall climbing robot (1), a pipe wall surface cleaning device (2), a pipe wall surface real-time monitoring device (3), a pipe wall surface defect repairing device (4) and an electric energy supply and control system (6);
the pipe wall surface cleaning device (2), the pipe wall surface real-time monitoring device (3) and the pipe wall surface defect repairing device (4) are fixedly connected with the pipe wall climbing robot (1) driven by the motor through a clamping fixture; the electric energy supply and control system (6) is connected with the pipe wall climbing robot (1), the pipe wall surface cleaning device (2), the pipe wall surface real-time monitoring device (3) and the pipe wall surface defect repairing device (4) and is used for providing required electric energy for the pipe wall climbing robot (1), the pipe wall surface cleaning device (2), the pipe wall surface real-time monitoring device (3) and the pipe wall surface defect repairing device (4) and controlling the actions of the electric energy in real time; the pipe wall climbing robot (1) carries a pipe wall surface cleaning device (2), a pipe wall surface real-time monitoring device (3) and a pipe wall surface defect repairing device (4) respectively to carry out automatic repairing work on the surface of a pipeline (5) to be repaired.
2. The on-site automatic repair device for the high-temperature corrosion of the heated surface pipe of the boiler, as set forth in claim 1, is characterized in that: the pipe wall climbing robot (1) is a commercial pipe wall climbing robot, and climbing and rotation of the outer wall of a pipeline (5) to be repaired are achieved through radial and axial rollers.
3. The on-site automatic repair device for the high-temperature corrosion of the heated surface pipe of the boiler, as set forth in claim 1, is characterized in that: the pipe wall surface cleaning device (2) is a sand blasting surface cleaning device or a galvanometer pulse laser cleaning device.
4. The on-site automatic repair device for the high-temperature corrosion of the heated surface pipe of the boiler, as set forth in claim 1, is characterized in that: the pipe wall surface real-time monitoring device (3) realizes real-time imaging of the pipe wall defect condition of the pipeline (5) to be repaired through an optical imaging system, and completes measurement of the defect size, real-time observation of the repairing process and visual detection of the repaired defect through measurement of the side image of the electric energy supply and control system (6).
5. The on-site automatic repair device for the high-temperature corrosion of the heated surface pipe of the boiler, as set forth in claim 1, is characterized in that: the pipe wall surface defect repairing device (4) selects a portable argon arc welding device or a microbeam plasma thermal spraying device according to the material, service working condition and operation space of the pipe wall of the pipeline to be repaired.
6. The automatic repairing method for the boiler heating surface pipe high-temperature corrosion on-site automatic repairing device according to any one of claims 1 to 5, characterized in that: the method comprises the following steps:
the method comprises the following steps: the method comprises the steps of installing a high-temperature corrosion on-site automatic repairing device of a heated surface pipe on a to-be-repaired heated surface site, fixing a pipe wall climbing robot (1) loaded with a pipe wall surface cleaning device (2), a pipe wall surface real-time monitoring device (3) and a pipe wall surface defect repairing device (4) on the surface of a to-be-repaired pipe (5), connecting signal lines of the pipe wall climbing robot (1), the pipe wall surface cleaning device (2), the pipe wall surface real-time monitoring device (3) and the pipe wall surface defect repairing device (4) with an electric energy supply and control system (6), and preparing and installing the device;
the pipe wall climbing robot (1) is linked with the pipe wall surface cleaning device (2), and the pipe wall of the pipeline (5) to be repaired is continuously cleaned in the electric energy supply and control system (6) by selecting a continuous working mode;
step three: after cleaning, the defect property and size measurement is completed through linkage of the pipe wall climbing robot (1), the pipe wall surface real-time monitoring device (3) and the pipe wall surface defect repairing device (4), wherein the pipe wall surface real-time monitoring device (3) realizes real-time imaging of the pipe wall defect condition of the pipeline (5) to be repaired through an optical imaging system and transmits the defect image to an electric energy supply and control system (6), and then the electric energy supply and control system (6) side image measurement is performed; giving out a repair strategy and repair parameters by comparing a database in the electric energy supply and control system (6), starting a repair device, completing the repair of the defect in a welding or spraying mode, and visually evaluating the quality of the repaired defect part in a human-computer interface of the electric energy supply and control system (6) by using an observation result of the repaired surface through a pipe wall surface real-time monitoring device (3) so as to complete the repair of the defect point;
step four: and repeating the three steps to finish the automatic repair of all defect points.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010196244.7A CN111283379A (en) | 2020-03-19 | 2020-03-19 | Automatic repair device and method for boiler heated surface pipe high-temperature corrosion site |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010196244.7A CN111283379A (en) | 2020-03-19 | 2020-03-19 | Automatic repair device and method for boiler heated surface pipe high-temperature corrosion site |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112303375A (en) * | 2020-10-29 | 2021-02-02 | 张梅 | Pipeline inspection robot |
| CN112404658A (en) * | 2020-10-19 | 2021-02-26 | 中国石油天然气集团有限公司 | Remote control-based in-service pipeline arc 3D printing repair system and method |
| CN112958874A (en) * | 2021-03-19 | 2021-06-15 | 南京航空航天大学 | Electric arc additive remanufacturing device and method for recyclable rocket box body structure |
| CN114964380A (en) * | 2022-06-02 | 2022-08-30 | 上海发电设备成套设计研究院有限责任公司 | Method, device and system for monitoring high-temperature corrosion state of pipe |
| CN115971786A (en) * | 2022-12-19 | 2023-04-18 | 电子科技大学 | Multi-energy field auxiliary integrated repair system |
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| CN112958874A (en) * | 2021-03-19 | 2021-06-15 | 南京航空航天大学 | Electric arc additive remanufacturing device and method for recyclable rocket box body structure |
| CN112958874B (en) * | 2021-03-19 | 2023-09-08 | 南京航空航天大学 | Arc additive remanufacturing device and method for recyclable rocket box structure |
| CN114964380A (en) * | 2022-06-02 | 2022-08-30 | 上海发电设备成套设计研究院有限责任公司 | Method, device and system for monitoring high-temperature corrosion state of pipe |
| CN115971786A (en) * | 2022-12-19 | 2023-04-18 | 电子科技大学 | Multi-energy field auxiliary integrated repair system |
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