CN111346855A - Overhauling device and method for manhole flange surface of steam generator - Google Patents
Overhauling device and method for manhole flange surface of steam generator Download PDFInfo
- Publication number
- CN111346855A CN111346855A CN201811573184.5A CN201811573184A CN111346855A CN 111346855 A CN111346855 A CN 111346855A CN 201811573184 A CN201811573184 A CN 201811573184A CN 111346855 A CN111346855 A CN 111346855A
- Authority
- CN
- China
- Prior art keywords
- base
- steam generator
- bolt hole
- manhole
- bolt holes
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000004140 cleaning Methods 0.000 claims abstract description 41
- 230000009193 crawling Effects 0.000 claims abstract description 29
- 238000012423 maintenance Methods 0.000 claims abstract description 21
- 238000005498 polishing Methods 0.000 claims abstract description 13
- 238000007689 inspection Methods 0.000 claims abstract description 11
- 238000007789 sealing Methods 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims description 6
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000005406 washing Methods 0.000 claims description 3
- 239000003795 chemical substances by application Substances 0.000 description 3
- 230000005855 radiation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- B08B1/32—
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention relates to the technical field of nuclear power station steam generator manhole flange surface maintenance, and particularly discloses a maintenance device and method for a steam generator manhole flange surface. The utility model provides an overhaul device for steam generator manhole flange face, the device crawls the robot and overhauls the instrument unit promptly, wherein, overhauls the instrument unit and installs on crawling the robot through quick connecting device, and shown crawling the robot grasps in the bolt hole of manhole flange face through two arm structures that are cross arrangement to can follow the bolt hole distribution circle of manhole flange face and be the circumference motion of crawling, thereby drive and overhaul the instrument unit and overhaul the operation to the bolt hole in proper order. According to the overhauling device and method for the manhole flange surface of the steam generator, disclosed by the invention, the crawling robot can perform circular crawling motion along the bolt hole distribution circle of the manhole flange surface, so that various overhauling tool unit modules are driven to realize operations such as bolt hole cleaning, flange surface inspection, sealing surface polishing and the like.
Description
Technical Field
The invention belongs to the technical field of nuclear power station steam generator manhole flange surface maintenance, and particularly relates to a maintenance device and method for a steam generator manhole flange surface.
Background
The method comprises the steps that bolt holes and sealing surfaces of a flange surface of a manhole of a steam generator must be overhauled during the period of refueling overhaul of the pressurized water reactor nuclear power station, and main work comprises bolt hole cleaning, video inspection and polishing of the sealing surfaces and the like.
At present, the overhaul work of the flange face of the manhole of the steam generator mainly depends on the site of workers to brush bolt holes one by one (foreign matters such as anti-biting agent, rust and metal debris which are dried on the threads can be removed by cleaning the bolt holes, and the bolt cannot be blocked when being reloaded), and then the sealing face of the flange face is inspected (if necessary, polished). Because the manhole of the steam generator is positioned in a loop system, factors such as on-site high radiation environment, insufficient illumination and the like cause relatively low maintenance work efficiency of the flange surface of the manhole of the steam generator, an automatic maintenance device is urgently needed to replace the traditional manual operation, the labor intensity of maintenance personnel is reduced, and the irradiated dose of the personnel is reduced.
Disclosure of Invention
The invention aims to provide a device and a method for overhauling a manhole flange surface of a steam generator, which are used for cleaning bolt holes of the manhole flange surface of the steam generator and inspecting and polishing a sealing surface, reducing the labor intensity of maintenance personnel and reducing the radiation dose of the personnel.
The technical scheme of the invention is as follows: the utility model provides an overhaul device for steam generator manhole flange face, the device crawls the robot and overhauls the instrument unit promptly, wherein, overhauls the instrument unit and installs on crawling the robot through quick connecting device, and shown crawling the robot grasps in the bolt hole of manhole flange face through two arm structures that are cross arrangement to can follow the bolt hole distribution circle of manhole flange face and be the circumference motion of crawling, thereby drive and overhaul the instrument unit and overhaul the operation to the bolt hole in proper order.
The crawling robot comprises a base, a foot seat, a rotary driving unit, a lifting cylinder and a toe component, wherein the base and the foot seat are of rotary arm structures, and the middle position of the foot seat is arranged in the middle position of the base through a rotary bearing and forms a cross shear type structure; the movable end and the fixed end of the rotary driving unit are respectively hinged with one side of the base and one side of the foot seat, and the telescopic linear motion of the rotary driving unit can drive the base and the foot seat to do relative rotary motion around a rotary bearing at the middle cross position; a lifting cylinder is also arranged at the cross connection position of the base and the foot seat, a piston of the lifting cylinder is fixedly connected with the foot seat, a cylinder body of the lifting cylinder is arranged on a rotary bearing at the cross position in the middle of the base, and the base and the foot seat can be driven to do relative lifting motion in the vertical direction by the lifting cylinder; the toe components are arranged at the two ends of the base and the foot seats, the front ends of the toe components are tensioning mechanisms which can extend into the manhole flange bolt holes, and the manhole flange bolt holes can be grasped and loosened through the tensioning mechanisms.
The toe components at the two ends of the base and the foot seat are symmetrically arranged relative to the central connecting point, and the central distance between the toe components and the central connecting point is the diameter of a circle distributed on the flange surface by the bolt holes.
The maintenance tool unit comprises a cleaning tool unit module and a camera or a polishing head, wherein the camera is used for carrying out video inspection on the surface of the manhole flange face, and the polishing head is used for polishing the sealing face of the manhole flange.
The cleaning tool unit module comprises a cleaning brush, a motor and a telescopic cylinder, wherein the motor is connected with the quick connecting device through the telescopic cylinder, and the cleaning brush is mounted on an output shaft of the motor and used for cleaning anti-biting agent, rust or metal debris on the internal thread of the bolt hole.
A method for overhauling a manhole flange surface of a steam generator specifically comprises the following steps:
step 1, installing the maintenance device according to claim 1 on a flange face of a manhole of a steam generator;
step 2.1, aligning the cleaning tool unit module with a bolt hole to be cleaned, and enabling the telescopic cylinder to extend outwards to drive the cleaning brush to extend into the bolt hole;
step 2.2, the cleaning brush connected to the driving shaft is driven by the motor to rotate at a high speed to clean the bolt hole;
2.3, contracting the telescopic cylinder to enable the cleaning brush to withdraw from the bolt hole, and completing the cleaning operation of the first bolt hole;
step 3, moving the overhauling device to the next bolt hole to be cleaned;
and 5, repeating the step 3 and the step 4, and sequentially finishing the cleaning operation of all bolt holes on the flange surface of the manhole of the steam generator.
The step 3 specifically comprises:
3.1, loosening the clamping of the toe components at the two ends of the foot seat on the bolt holes, withdrawing from the bolt holes, and extending the lifting cylinder to enable the foot seat to be separated from the base by a certain distance in the vertical direction;
3.2, extending the rotary driving unit to enable the foot seats to rotate around the base in a circle, wherein included angles of adjacent bolt holes on the flange surface at the rotating angle are equal;
3.3, the lifting cylinder contracts to enable the foot seat and the base to be close to each other in the vertical direction, and the toe components at the two ends of the foot seat are inserted into the bolt holes to tightly grasp the bolt holes;
3.4, loosening the clamping of the toe components at the two ends of the base on the bolt holes, withdrawing from the bolt holes, and contracting the lifting cylinder to enable the base to be close to the foot seats in the vertical direction;
step 3.5, the rotary driving unit contracts to enable the base to rotate around the foot seat in a circumferential mode, and the included angles of the adjacent bolt holes on the flange surface of the rotating angle are kept consistent;
and 3.6, extending the lifting cylinder to separate the base from the foot seat in the vertical direction, inserting the toe components at the two ends of the base into the bolt holes, and grasping the bolt holes.
The method comprises the following specific steps of installing an overhauling device on the flange surface of the manhole of the steam generator in the step 1:
step 1.1, placing the crawling robot on a manhole flange surface of a steam generator, extending toe components on a base and a foot seat into corresponding bolt holes, and grasping the bolt holes to complete installation and fixation of the crawling robot on the flange surface;
and step 1.2, installing the maintenance tool on the crawling robot through the quick connecting device.
The invention has the following remarkable effects: according to the overhauling device and method for the manhole flange surface of the steam generator, disclosed by the invention, the crawling robot can perform circular crawling motion along the bolt hole distribution circle of the manhole flange surface, so that various overhauling tool unit modules are driven to realize operations such as bolt hole cleaning, flange surface inspection, sealing surface polishing and the like.
Drawings
FIG. 1 is a schematic structural view of an inspection device for a manhole flange surface of a steam generator according to the present invention;
FIG. 2 is a schematic diagram of a module of the cleaning tool of FIG. 1;
in the figure: 1. a base; 2. a foot seat; 3. a slew bearing; 4. a rotation driving unit; 5. a lifting cylinder; 6. a toe assembly; 7. a quick connect device; 8. a cleaning tool unit module; 9. a motor; 10. a telescopic cylinder; 11. and cleaning the brush.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in fig. 1 and 2, an overhaul device for a manhole flange surface of a steam generator comprises a flange surface crawling robot and an overhaul tool unit, wherein the overhaul tool unit is mounted on the crawling robot through a quick connecting device 7, the crawling robot is tightly clamped in bolt holes of the manhole flange surface through two mechanical arm structures which are arranged in a crossed mode, and can do circular crawling motion along bolt hole distribution circles of the manhole flange surface, so that the overhaul tool unit is driven to overhaul the bolt holes in sequence;
the crawling robot comprises a base 1, a foot seat 2, a rotary driving unit 4, a lifting cylinder 5 and a toe component 6, wherein the base 1 and the foot seat 2 are of a rotary arm structure, and the middle position of the foot seat 2 is arranged in the middle position of the base 1 through a rotary bearing 3 to form a cross shear type structure; the movable end and the fixed end of the rotary driving unit 4 are respectively hinged with one side of the base 1 and one side of the foot seat 2, and the telescopic linear motion of the rotary driving unit 4 can drive the base 1 and the foot seat 2 to do relative rotary motion around the rotary bearing 3 at the middle cross position; a lifting cylinder 5 is also arranged at the cross connection position of the base 1 and the foot seat 2, a piston of the lifting cylinder 5 is fixedly connected with the foot seat 2, a cylinder body of the lifting cylinder 5 is arranged on a rotary bearing 3 at the cross position in the middle of the base 1, and the base 1 and the foot seat 2 can be driven to do relative lifting motion in the vertical direction through the lifting cylinder 5; both ends of the base 1 and the foot seat 2 are provided with toe components 6, the front ends of the toe components 6 are tensioning mechanisms which can extend into bolt holes of a manhole flange and can clamp and release the bolt holes of the manhole flange surface through the tensioning mechanisms; the toe components 6 at the two ends of the base 1 and the foot seat 2 are symmetrically arranged relative to a central connecting point, and the central distance between the two is the diameter of a circle distributed on the flange surface by the bolt holes;
the base 1 is provided with a quick connecting device 7, and the maintenance tool unit can be quickly connected to the base 1 through the quick connecting device 7, wherein the maintenance tool unit comprises a cleaning tool unit module 8 and a camera or a polishing head, the camera is used for carrying out video inspection on the surface of the flange face of the manhole, and the polishing head is used for polishing the sealing face of the flange face of the manhole; cleaning means unit module 8 is including wasing brush 11, motor 9 and telescopic cylinder 10, and wherein, motor 9 is connected with quick-connect device 7 through telescopic cylinder 10, installs washing brush 11 on the motor output shaft for foreign matter such as anti-bite agent, rust and metal debris on the clearance bolt hole internal thread.
A method for overhauling a manhole flange surface of a steam generator specifically comprises the following steps:
step 1, installing an overhaul device on a manhole flange surface of a steam generator;
step 1.1, placing the crawling robot on a manhole flange surface of a steam generator, extending toe components on a base and a foot seat into corresponding bolt holes, and grasping the bolt holes to complete installation and fixation of the crawling robot on the flange surface;
step 1.2, installing a maintenance tool on the crawling robot through a quick connecting device;
step 2.1, aligning the cleaning tool unit module with a bolt hole to be cleaned, and enabling the telescopic cylinder to extend outwards to drive the cleaning brush to extend into the bolt hole;
step 2.2, the cleaning brush connected to the driving shaft is driven by the motor to rotate at a high speed to clean the bolt hole;
2.3, contracting the telescopic cylinder to enable the cleaning brush to withdraw from the bolt hole, and completing the cleaning operation of the first bolt hole;
step 3, moving the overhauling device to the next bolt hole to be cleaned;
3.1, loosening the clamping of the toe components at the two ends of the foot seat on the bolt holes, withdrawing from the bolt holes, and extending the lifting cylinder to enable the foot seat to be separated from the base by a certain distance in the vertical direction;
3.2, extending the rotary driving unit to enable the foot seats to rotate around the base in a circle, wherein included angles of adjacent bolt holes on the flange surface at the rotating angle are equal;
3.3, the lifting cylinder contracts to enable the foot seat and the base to be close to each other in the vertical direction, and the toe components at the two ends of the foot seat are inserted into the bolt holes to tightly grasp the bolt holes;
3.4, loosening the clamping of the toe components at the two ends of the base on the bolt holes, withdrawing from the bolt holes, and contracting the lifting cylinder to enable the base to be close to the foot seats in the vertical direction;
step 3.5, the rotary driving unit contracts to enable the base to rotate around the foot seat in a circumferential mode, and the included angles of the adjacent bolt holes on the flange surface of the rotating angle are kept consistent;
and 3.6, extending the lifting cylinder to separate the base from the foot seat in the vertical direction, inserting the toe components at the two ends of the base into the bolt holes, and grasping the bolt holes.
and 5, repeating the step 3 and the step 4, and sequentially finishing the cleaning operation of all bolt holes on the flange surface of the manhole of the steam generator.
Claims (8)
1. The utility model provides an overhaul device for steam generator manhole flange face which characterized in that: the device robot of crawling overhauls the instrument unit promptly, wherein, overhauls the instrument unit and installs on the robot of crawling through quick connecting device (7), and the shown robot of crawling promptly in the bolt hole of manhole flange face through two arm structures that are cross arrangement to can follow the bolt hole distribution circle of manhole flange face and do the circumference and crawl, thereby drive and overhaul the instrument unit and overhaul the operation to the bolt hole in proper order.
2. An inspection and repair device for a steam generator manhole flange face according to claim 1, wherein: the crawling robot comprises a base (1), a foot seat (2), a rotary driving unit (4), a lifting cylinder (5) and a toe component (6), wherein the base (1) and the foot seat (2) are of a rotary arm structure, and the middle position of the foot seat (2) is arranged at the middle position of the base (1) through a rotary bearing (3) and forms a cross shear type structure; the moving end and the fixed end of the rotary driving unit (4) are respectively hinged with one side of the base (1) and one side of the foot seat (2), and the telescopic linear motion of the rotary driving unit (4) can drive the base (1) and the foot seat (2) to do relative rotary motion around the rotary bearing (3) at the middle cross position; a lifting cylinder (5) is further installed at the cross connection position of the base (1) and the foot seats (2), pistons of the lifting cylinder (5) are fixedly connected with the foot seats (2), cylinder bodies of the lifting cylinder (5) are installed on rotary bearings (3) at the cross position in the middle of the base (1), and the base (1) and the foot seats (2) can be driven to do relative lifting movement in the vertical direction through the lifting cylinder (5); both ends of the base (1) and the foot seat (2) are respectively provided with a toe component (6), the front end of the toe component (6) is provided with a tensioning mechanism which can extend into a manhole flange bolt hole, and the manhole flange bolt hole is grasped and loosened through the tensioning mechanism.
3. An inspection and repair device for a steam generator manhole flange face as claimed in claim 2, wherein: the toe components (6) at the two ends of the base (1) and the foot seat (2) are symmetrically arranged relative to a central connecting point, and the central distance between the toe components and the central connecting point is the diameter of a circle distributed on the flange surface by bolt holes.
4. An inspection and repair device for a steam generator manhole flange face as claimed in claim 1, wherein: the maintenance tool unit comprises a cleaning tool unit module (8) and a camera or a polishing head, wherein the camera is used for carrying out video inspection on the surface of the manhole flange face, and the polishing head is used for polishing the sealing face of the manhole flange.
5. An inspection and repair device for a steam generator manhole flange face as claimed in claim 4, wherein: cleaning means unit module (8) including washing brush (11), motor (9) and telescopic cylinder (10), wherein, motor (9) are connected with quick connecting device (7) through telescopic cylinder (10), install washing brush (11) on the motor output shaft for the anti-bite agent on the clearance bolt hole internal thread, rust or metal debris.
6. A maintenance method for a manhole flange surface of a steam generator is characterized by comprising the following steps: the method specifically comprises the following steps:
step 1, installing the maintenance device according to claim 1 on a flange face of a manhole of a steam generator;
step 2, cleaning a first bolt hole on the flange surface of the manhole of the steam generator;
step 2.1, aligning the cleaning tool unit module with a bolt hole to be cleaned, and enabling the telescopic cylinder to extend outwards to drive the cleaning brush to extend into the bolt hole;
step 2.2, the cleaning brush connected to the driving shaft is driven by the motor to rotate at a high speed to clean the bolt hole;
2.3, contracting the telescopic cylinder to enable the cleaning brush to withdraw from the bolt hole, and completing the cleaning operation of the first bolt hole;
step 3, moving the overhauling device to the next bolt hole to be cleaned;
step 4, cleaning the bolt hole to which the maintenance device moves by using the step 2;
and 5, repeating the step 3 and the step 4, and sequentially finishing the cleaning operation of all bolt holes on the flange surface of the manhole of the steam generator.
7. A method of servicing a steam generator manhole flange face as claimed in claim 6, wherein: the step 3 specifically comprises:
3.1, loosening the clamping of the toe components at the two ends of the foot seat on the bolt holes, withdrawing from the bolt holes, and extending the lifting cylinder to enable the foot seat to be separated from the base by a certain distance in the vertical direction;
3.2, extending the rotary driving unit to enable the foot seats to rotate around the base in a circle, wherein included angles of adjacent bolt holes on the flange surface at the rotating angle are equal;
3.3, the lifting cylinder contracts to enable the foot seat and the base to be close to each other in the vertical direction, and the toe components at the two ends of the foot seat are inserted into the bolt holes to tightly grasp the bolt holes;
3.4, loosening the clamping of the toe components at the two ends of the base on the bolt holes, withdrawing from the bolt holes, and contracting the lifting cylinder to enable the base to be close to the foot seats in the vertical direction;
step 3.5, the rotary driving unit contracts to enable the base to rotate around the foot seat in a circumferential mode, and the included angles of the adjacent bolt holes on the flange surface of the rotating angle are kept consistent;
and 3.6, extending the lifting cylinder to separate the base from the foot seat in the vertical direction, inserting the toe components at the two ends of the base into the bolt holes, and grasping the bolt holes.
8. A method of servicing a steam generator manhole flange face as claimed in claim 6, wherein: the method comprises the following specific steps of installing an overhauling device on the flange surface of the manhole of the steam generator in the step 1:
step 1.1, placing the crawling robot on a manhole flange surface of a steam generator, extending toe components on a base and a foot seat into corresponding bolt holes, and grasping the bolt holes to complete installation and fixation of the crawling robot on the flange surface;
and step 1.2, installing the maintenance tool on the crawling robot through the quick connecting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811573184.5A CN111346855A (en) | 2018-12-21 | 2018-12-21 | Overhauling device and method for manhole flange surface of steam generator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811573184.5A CN111346855A (en) | 2018-12-21 | 2018-12-21 | Overhauling device and method for manhole flange surface of steam generator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111346855A true CN111346855A (en) | 2020-06-30 |
Family
ID=71188333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811573184.5A Pending CN111346855A (en) | 2018-12-21 | 2018-12-21 | Overhauling device and method for manhole flange surface of steam generator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111346855A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106641574A (en) * | 2016-10-25 | 2017-05-10 | 核动力运行研究所 | Full pneumatic type tube plate crawler structure |
| CN108262276A (en) * | 2016-12-30 | 2018-07-10 | 核动力运行研究所 | A kind of screw hole automatic cleaning apparatus of evaporator manhole |
| CN209663817U (en) * | 2018-12-21 | 2019-11-22 | 核动力运行研究所 | A kind of apparatus for examination and repair for steam generator manhole flange face |
-
2018
- 2018-12-21 CN CN201811573184.5A patent/CN111346855A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106641574A (en) * | 2016-10-25 | 2017-05-10 | 核动力运行研究所 | Full pneumatic type tube plate crawler structure |
| CN108262276A (en) * | 2016-12-30 | 2018-07-10 | 核动力运行研究所 | A kind of screw hole automatic cleaning apparatus of evaporator manhole |
| CN209663817U (en) * | 2018-12-21 | 2019-11-22 | 核动力运行研究所 | A kind of apparatus for examination and repair for steam generator manhole flange face |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106737621B (en) | Composite robot for climbing pole by using auxiliary rod | |
| CN107442460B (en) | Full-automatic bolt and nut cleaning machine | |
| US20090307891A1 (en) | Method and apparatus for remotely inspecting and/or treating welds, pipes, vessels and/or other components used in reactor coolant systems or other process applications | |
| CN106239332A (en) | A kind of oil pipeline inwall processing intelligence cleans rust removalling equipment | |
| KR20050029231A (en) | Miniature manipulator for servicing the interior of nuclear steam generator tubes | |
| CN110421333A (en) | Side stopboard changer device people and a side stopboard installation method | |
| CN105750897A (en) | Automatic nut tightening and returning mechanism with bolt stretching machine | |
| WO2020212323A1 (en) | Automated bolt tensioning robot | |
| CN210677611U (en) | Primary side blocking plate dismounting robot | |
| CN1045452A (en) | The apparatus for examination and repair of heat exchanger | |
| CN200991897Y (en) | Under water long-pole catching device with pick-up camera | |
| KR101794051B1 (en) | A Diagnostic System for Wind Turbine Tower and Blade | |
| CN113618708B (en) | Planetary-like rotary maintenance robot applicable to multi-size inhaul cables | |
| CN111346855A (en) | Overhauling device and method for manhole flange surface of steam generator | |
| CN107650025A (en) | A kind of rail mounted shot-blast cleaning machine | |
| CN209663817U (en) | A kind of apparatus for examination and repair for steam generator manhole flange face | |
| CN110180814B (en) | Bearing inner race rotation belt cleaning device | |
| KR101513460B1 (en) | Stud bolt Tool | |
| CN108262276B (en) | Screw hole automatic cleaning device of evaporator manhole | |
| CN110340652A (en) | A kind of wheel hub pitch variable bearings automatic screwing down apparatus | |
| CN112853474A (en) | Automatic thermal field dismantling equipment for Czochralski single crystal silicon furnace | |
| CN105478432B (en) | A kind of engine washing fixture | |
| CN215785230U (en) | Cleaning device suitable for large bearing | |
| CN113681575A (en) | Cable maintenance robot for underwater pile foundation | |
| KR102488026B1 (en) | Reactor stud bolt cleaning equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200630 |
|
| RJ01 | Rejection of invention patent application after publication |