CN112319644A - Wall climbing detection robot - Google Patents
Wall climbing detection robot Download PDFInfo
- Publication number
- CN112319644A CN112319644A CN202011288805.2A CN202011288805A CN112319644A CN 112319644 A CN112319644 A CN 112319644A CN 202011288805 A CN202011288805 A CN 202011288805A CN 112319644 A CN112319644 A CN 112319644A
- Authority
- CN
- China
- Prior art keywords
- robot body
- robot
- wall
- driving wheel
- adjusting screw
- 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Electrochemistry (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wall climbing detection robot, which is used for detecting a tube bank structure and comprises: the robot body: the driving wheel modules are respectively connected with the robot body and are used for driving the robot body to move and detect on the tube bank structure; and the detection module is arranged on the robot body and used for detecting the tube bank structure. The wheel spacing is adjustable, and the adjustable wheel spacing can adapt to the tube spacing formed by tube bank structures of different specifications; the self-adaptive wheel spacing adjustment can be realized by adopting a mode that one side is locked and the other side is unlocked, and the self-adaptive wheel spacing adjustment is suitable for application scenes that the tube spacing of a tube row structure has large errors, deformation and the like; moreover, various detection devices can be carried, and the comprehensive automatic detection of the tube bank structure is realized; meanwhile, stable operation and accurate positioning can be realized, and the detection effect is further improved.
Description
Technical Field
The invention relates to the technical field of wall-climbing robots, in particular to a wall-climbing detection robot.
Background
Wall climbing robots (wall climbing robots) are automated robots, also known as wall-moving robots, that can climb on vertical walls and perform work, because vertical wall work exceeds the limits of a person, also known as limit-action robots.
The wall-climbing robot has two basic functions of adsorption and movement, and the common adsorption modes include negative pressure adsorption and permanent magnet adsorption. The negative pressure adsorption mode can be used for adsorbing the negative pressure generated in the sucker onto the wall surface and is not limited by the wall surface material; the permanent magnet adsorption mode has two modes of a permanent magnet and an electromagnet and is only suitable for adsorbing the magnetic conductivity wall surface. The wall-climbing robot is mainly used for petrochemical enterprises to carry out flaw detection or paint spraying treatment on the cylindrical large tank or carry out cleaning and spraying on buildings. The device is used for thickness measurement in nuclear industry, and can also be used in fire fighting, shipbuilding and other industries. Japan developed rapidly on the research of wall-climbing robots, and china also conducted similar research since the 90 s of the 20 th century. In the industrial field, magnetic attraction type robots are the majority of wall-climbing robots.
On a plane or curved steel structure, more and more wall-climbing robots are applied, including various robot operation applications such as observation, detection and cleaning, but on a complex steel structure surface, for example, the surface has a rugged structure, a tube bank structure and the like, and the robot application is severely limited due to the factors such as the weakening of magnetic adsorption, the blocking of climbing and the like.
Taking a boiler water-cooled wall structure as an example: most boiler water walls adopt a membrane type structure, namely: the water-cooled wall is a gas-tight structure formed by welding pipes and fins to form the water-cooled wall. The water-cooled wall is complex in manufacturing process, is influenced by high-temperature corrosion in a furnace, coal dust scouring and abrasion and the like after being put into operation, has the conditions of thinning, cracks and the like, can also cause accidents such as pipe expansion, pipe explosion and the like, and needs to be checked frequently. The boiler water wall is of a tube bank structure, and the tube space is increased due to the fins, so that great difficulty is brought to magnetic attraction and moving crawling, and therefore, the development and the application of the wall-climbing detection robot suitable for the tube bank structure similar to the boiler water wall are limited.
Disclosure of Invention
According to an embodiment of the present invention, there is provided a wall-climbing detection robot for detecting a tube bank structure, including:
a robot body;
the driving wheel modules are respectively connected with the robot body and are used for driving the robot body to move and detect on the tube bank structure;
and the detection module is arranged on the robot body and used for detecting the tube bank structure.
Further, the driving wheel module includes:
the driving wheel is used for driving the robot body to move, and the driving wheel runs between two adjacent pipelines of the pipe row structure;
the driving motor drives the driving wheel to rotate;
adjusting screw, adjusting screw's one end links to each other with the drive wheel is fixed, and the other end links to each other with the robot activity, and adjusting screw is parallel with the pivot of drive wheel, and adjusting screw can drive the axial reciprocating motion of drive wheel along adjusting screw.
Further, the driving wheel module further includes: and the locking nut is sleeved at the other end of the adjusting screw rod and used for locking the adjusting screw rod on the robot body, so that the adjusting screw rod and the robot body are not displaced.
Further, the driving wheel is a magnetic wheel.
Further, wall climbing detection robot still contains: the adjusting rollers are arranged in parallel, the axial direction of each adjusting roller is consistent with the moving direction of the robot body, and each adjusting roller is located between the adjusting screw and the robot body and used for conducting auxiliary guiding on the movement of the adjusting screw.
Further, wall climbing detection robot still contains: and the length measuring device is connected to the robot body or the driving wheel module and is used for positioning the position and the moving distance of the robot body.
Further, the detection module comprises: and each probe is movably connected with the robot body and is used for probing the surface of the tube bank structure.
Furthermore, the probe is a magnetic probe which is adsorbed on the tube bank structure.
Further, the detection module further comprises: and the auxiliary walking wheels are arranged on two sides of the magnetic probe and used for assisting the robot body to drive the magnetic probe to move on the surface of the tube bank structure.
Further, the detection module further comprises: the camera and the illuminating lamp are arranged on the robot body.
According to the wall climbing detection robot provided by the embodiment of the invention, the wheel spacing is adjustable, and the wall climbing detection robot can adapt to the pipe spacing formed by pipe row structures of different specifications; the self-adaptive wheel spacing adjustment can be realized by adopting a mode that one side is locked and the other side is unlocked, and the self-adaptive wheel spacing adjustment is suitable for application scenes that the tube spacing of a tube row structure has large errors, deformation and the like; moreover, various detection devices can be carried, and the comprehensive automatic detection of the tube bank structure is realized; meanwhile, stable operation and accurate positioning can be realized, and the detection effect is further improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the claimed technology.
Drawings
FIG. 1 is a front view of a wall climbing inspection robot according to an embodiment of the present invention;
FIG. 2 is a top view of a wall climbing inspection robot according to an embodiment of the present invention;
FIG. 3 is a disassembled schematic view of a pair of drive wheel modules on the same side of FIG. 2;
fig. 4 is a schematic diagram illustrating a traveling principle of the wall climbing detection robot on the tube bank structure according to the embodiment of the invention.
Detailed Description
The present invention will be further explained by describing preferred embodiments of the present invention in detail with reference to the accompanying drawings.
First, a wall-climbing detection robot according to an embodiment of the present invention will be described with reference to fig. 1 to 4, which is used for detecting a tube bank structure 6 and has a wide application range.
As shown in fig. 1, the wall-climbing inspection robot according to the embodiment of the present invention includes a robot body 1, a plurality of driving wheel modules 2, and an inspection module 3.
Specifically, as shown in fig. 1-3, the side of the robot body 1 is provided with a pair of handles 13, the handles 13 are held by two hands, so that the wall-climbing detection robot can be adsorbed, deployed and evacuated, and the wall-climbing detection robot is convenient and fast to use and easy to carry.
Specifically, as shown in fig. 1, 2 and 4, a plurality of driving wheel modules 2 are respectively connected to the robot body 1, and the plurality of driving wheel modules 2 are used for driving the robot body 1 to move and detect on the tube bank structure 6. In this embodiment, 4 driving wheel modules 2 are provided, which are provided in pairs on both sides of the robot body 1, respectively, as the left front wheel, the left rear wheel, the right front wheel, and the right rear wheel of the wall climbing detection robot, and of course, the number of the driving wheel modules 2 is not limited to 4.
Further, in the present embodiment, as shown in fig. 2, the driving wheel modules 2 may be separated from the robot body 1, i.e., located outside the robot body 1, so that it is more convenient to adjust the position relationship between the driving wheel modules 2, i.e., it is more convenient to adjust the wheel spacing located at both sides of the robot body 1.
Further, as shown in fig. 3, in this embodiment, the driving wheel modules 2 located on one side of the robot body 1 may be installed as a whole, so that the driving wheel modules 2 are divided into two pairs of wheel sets, thereby achieving rapid adjustment of wheel spacing between the two pairs of wheel sets.
Further, as shown in fig. 3 and 4, the drive wheel module 2 includes: a driving wheel 21, a driving motor 22 and an adjusting screw 23. The driving wheel 21 is driven by the driving motor 22, the driving wheel 21 rotates to drive the robot body 1 to move, the driving wheel 21 runs between two adjacent pipelines 61 of the tube bank structure 6, as shown in fig. 2, the driving wheel travels by utilizing a 'valley tube bank track' formed between the adjacent pipelines 61, is suitable for detection of the tube bank structure 6, can ensure that a traveling path is always parallel to the tube bank structure 6, provides a stable platform for detection, is accurate and reliable in positioning, and can provide necessary conditions for detection, in the embodiment, the driving wheel 21 is a magnetic wheel, can be directly embedded between the pipelines 61, and can realize wall climbing operation; one end of the adjusting screw 23 is fixedly connected with the driving wheel 21, the other end of the adjusting screw is movably connected with the robot body 1, the adjusting screw 23 is parallel to a rotating shaft of the driving wheel 21, the adjusting screw 23 can drive the driving wheel 21 to reciprocate along the axial direction of the adjusting screw 23, and dynamic adjustment of the wheel spacing between the driving wheels 21 opposite to the two sides of the robot body 1 is achieved.
As shown in fig. 4, in the present embodiment, a pair of holders 11 are mounted on the robot body 1, each holder 11 is provided with a plurality of mounting holes corresponding to the adjusting screws 23 one by one, and the other ends of the adjusting screws 23 are inserted into the mounting holes of the holders 11.
Further, as shown in fig. 4, the drive wheel module 2 further includes: the locking nut 24 is sleeved at the other end of the adjusting screw 23, and the adjusting screw 23 is locked when needed, so that the adjusting screw 23 and the robot body 1 are not displaced, and therefore, the wheel spacing between the driving wheels 21 on two sides of the robot body 1 is adjusted by changing the length of the adjusting screw 23 inserted into the mounting hole and locking the position through the locking nut 24, and the wheel spacing is ensured to be matched with the spacing of the pipeline 61.
Further, as shown in fig. 4, the wall-climbing detection robot according to the embodiment of the present invention further includes: the adjusting rollers 4 are arranged in parallel, the axial direction of each adjusting roller 4 is consistent with the moving direction of the robot body 1, and each adjusting roller 4 is located between each adjusting screw 23 and the robot body 1 and used for conducting auxiliary guiding on the movement of the adjusting screw 23. In this embodiment, the number of the adjusting rollers 4 may be two, each of which corresponds to the adjusting screws 23 of all the driving wheel modules 2 on one side of the robot body 1, or may correspond to the number of the adjusting screws 23 one by one.
Specifically, as shown in fig. 1 and 2, the detection module 3 is disposed on the robot body 1 for detecting the tube bank structure 6, and the detection module 3 has: a plurality of probes 31, every probe 31 links to each other with robot body 1 activity for survey the surface of bank of tubes structure 6, probe 31 can move on the surface of bank of tubes structure 6, and in this embodiment, probe 31 is the magnetic probe, can directly adsorb on bank of tubes structure 6, and of course, the non-magnetic probe that adopts unsettled mode is also possible.
In the present embodiment, the plurality of probes 31 may be one or more of a thickness measuring instrument, a seam welding apparatus, a seam detection apparatus, a flaw detection apparatus, and the like.
Further, as shown in fig. 2, in this embodiment, the robot body 1 is provided with an installation rod 12, the installation rod 12 is parallel to the adjusting screw 23, and the plurality of probes 31 are movably disposed on the installation rod 12 and can be adjusted in position along the installation rod 1, so that the plurality of pipes 61 can be detected according to the specific structure of the pipe array structure 6.
Further, as shown in fig. 1, in this embodiment, the detection module 3 further includes: and auxiliary travelling wheels 32 arranged on two sides of the magnetic probe and used for assisting the robot body 1 to drive the magnetic probe to move on the surface of the tube bank structure 6 so as to avoid abrasion of the magnetic probe.
Further, as shown in fig. 1, in this embodiment, the detection module 3 further includes: a camera 33 and an illumination lamp (not shown in the figure) provided on the robot body 1.
Specifically, as shown in fig. 1 and 2, in the present embodiment, the wall-climbing detection robot according to the embodiment of the present invention further includes: the meter counting device 5, such as a magnetic encoder, is connected to the robot body 1 or the driving wheel 21, in this embodiment, a mode of being externally hung on the robot body 1 is adopted for positioning the position and the moving distance of the robot body 1 in the detection process, the positioning is accurate and reliable, and necessary detection conditions can be provided.
Before deployment, the wheel spacing of the opposite driving wheels 21 is adjusted according to the specification of the tube row structure 6, so that the wheel spacing is matched with the 'valley tube row track', and the adjusting screw 23 is locked by the locking nut 24; for the tube bank structure 6 with serious deformation and errors, the track gauge of the 'valley tube bank track' can be changed, only the adjusting screw 23 at one side of the robot body 1 is locked, the locking nut 24 at the other side is not locked, so that the adjusting screw 23 is movably connected with the robot body 1, and the wheel spacing of the driving wheel 21 can automatically adapt to the actual 'gauge' in the crawling operation process of the robot.
In the above, with reference to fig. 1 to 4, a wall climbing detection robot according to an embodiment of the present invention is described, in which the wheel pitch is adjustable, and the wheel pitch can adapt to the tube pitch formed by tube row structures of different specifications; the self-adaptive wheel spacing adjustment can be realized by adopting a mode that one side is locked and the other side is unlocked, and the self-adaptive wheel spacing adjustment is suitable for application scenes that the tube spacing of a tube row structure has large errors, deformation and the like; moreover, various detection devices can be carried, and the comprehensive automatic detection of the tube bank structure is realized; meanwhile, stable operation and accurate positioning can be realized, and the detection effect is further improved.
It should be noted that, in the present specification, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. A wall climbing detection robot for detecting a tube bank structure, comprising:
a robot body;
the driving wheel modules are respectively connected with the robot body and are used for driving the robot body to move and detect on the tube bank structure;
and the detection module is arranged on the robot body and used for detecting the tube bank structure.
2. The wall-climbing inspection robot according to claim 1, wherein the driving wheel module comprises:
the driving wheel is used for driving the robot body to move, and the driving wheel runs between two adjacent pipelines of the pipe row structure;
the driving motor drives the driving wheel to rotate;
and one end of the adjusting screw is fixedly connected with the driving wheel, the other end of the adjusting screw is movably connected with the robot body, the adjusting screw is parallel to a rotating shaft of the driving wheel, and the adjusting screw can drive the driving wheel to move along the axial direction of the adjusting screw in a reciprocating manner.
3. The wall-climbing inspection robot according to claim 2, wherein the driving wheel module further comprises: and the locking nut is sleeved at the other end of the adjusting screw rod and used for locking the adjusting screw rod on the robot body, so that the adjusting screw rod and the robot body are not displaced.
4. The wall-climbing inspection robot as claimed in claim 2, wherein the driving wheel is a magnetic wheel.
5. The wall-climbing inspection robot according to claim 2, further comprising: a plurality of parallel arrangement's dancer rools, the axial of dancer rools with the moving direction of robot is unanimous, every the dancer rools is located adjusting screw with between the robot, be used for doing adjusting screw's removal is assisted and is led.
6. The wall-climbing inspection robot according to claim 1, further comprising: and the length measuring device is connected to the robot body or the driving wheel module and is used for positioning the position and the moving distance of the robot body.
7. The wall-climbing inspection robot according to claim 1, wherein the inspection module comprises: and each probe is movably connected with the robot body and is used for probing the surface of the tube bank structure.
8. The wall-climbing inspection robot as recited in claim 7, wherein the probe is a magnetic probe that is attached to the tube bank structure.
9. The wall-climbing inspection robot as recited in claim 8, wherein the inspection module further comprises: and the auxiliary travelling wheels are arranged on two sides of the magnetic probe and used for assisting the robot body to drive the magnetic probe to move on the surface of the tube bank structure.
10. The wall-climbing inspection robot according to claim 1 or 7, wherein the inspection module further comprises: the camera and the illuminating lamp are arranged on the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011288805.2A CN112319644A (en) | 2020-11-17 | 2020-11-17 | Wall climbing detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011288805.2A CN112319644A (en) | 2020-11-17 | 2020-11-17 | Wall climbing detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112319644A true CN112319644A (en) | 2021-02-05 |
Family
ID=74322414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011288805.2A Pending CN112319644A (en) | 2020-11-17 | 2020-11-17 | Wall climbing detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112319644A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113983955A (en) * | 2021-10-25 | 2022-01-28 | 山东金特装备科技发展有限公司 | Contour scanning magnetic wall-climbing robot |
| CN115573544A (en) * | 2022-10-21 | 2023-01-06 | 中铁十局集团城建工程有限公司 | Purlin spraying operation walking robot with variable rail width and variable rail distance |
| CN116175515A (en) * | 2023-03-20 | 2023-05-30 | 江苏省送变电有限公司 | Spraying type marking robot for paying off |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105383584A (en) * | 2015-12-18 | 2016-03-09 | 哈尔滨科能熔敷科技有限公司 | Permanent magnet wheel wall climbing robot with elastic steel sheets |
| CN107200058A (en) * | 2016-03-18 | 2017-09-26 | 福特全球科技有限责任公司 | For the steering for the vehicle that can be turned to |
| US20180244327A1 (en) * | 2015-11-02 | 2018-08-30 | Starship Technologies Oü | Obstacle traversing mobile robot |
| CN108528555A (en) * | 2017-03-05 | 2018-09-14 | 湖北职业技术学院 | The walking of climbing robot Passive vacuum absorption is oriented to and roll-setting gear |
| CN208021577U (en) * | 2018-02-01 | 2018-10-30 | 太原工业学院 | A kind of climbing level robot carrying camera |
| CN109278889A (en) * | 2018-11-09 | 2019-01-29 | 国电锅炉压力容器检验有限公司 | A kind of membrane wall inspection crawl device |
| CN109909972A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | The adjustable water-cooling wall of wheelspan detects robot |
| CN209566999U (en) * | 2018-11-09 | 2019-11-01 | 国电锅炉压力容器检验有限公司 | A kind of membrane wall inspection crawl device |
| CN210191675U (en) * | 2019-07-31 | 2020-03-27 | 上海酷酷机器人有限公司 | Detection robot |
| CN111572665A (en) * | 2020-05-30 | 2020-08-25 | 日照亚创电子科技有限公司 | Wall climbing robot for detecting and maintaining water cooled wall of power plant boiler |
-
2020
- 2020-11-17 CN CN202011288805.2A patent/CN112319644A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180244327A1 (en) * | 2015-11-02 | 2018-08-30 | Starship Technologies Oü | Obstacle traversing mobile robot |
| CN105383584A (en) * | 2015-12-18 | 2016-03-09 | 哈尔滨科能熔敷科技有限公司 | Permanent magnet wheel wall climbing robot with elastic steel sheets |
| CN107200058A (en) * | 2016-03-18 | 2017-09-26 | 福特全球科技有限责任公司 | For the steering for the vehicle that can be turned to |
| CN108528555A (en) * | 2017-03-05 | 2018-09-14 | 湖北职业技术学院 | The walking of climbing robot Passive vacuum absorption is oriented to and roll-setting gear |
| CN208021577U (en) * | 2018-02-01 | 2018-10-30 | 太原工业学院 | A kind of climbing level robot carrying camera |
| CN109278889A (en) * | 2018-11-09 | 2019-01-29 | 国电锅炉压力容器检验有限公司 | A kind of membrane wall inspection crawl device |
| CN209566999U (en) * | 2018-11-09 | 2019-11-01 | 国电锅炉压力容器检验有限公司 | A kind of membrane wall inspection crawl device |
| CN109909972A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | The adjustable water-cooling wall of wheelspan detects robot |
| CN210191675U (en) * | 2019-07-31 | 2020-03-27 | 上海酷酷机器人有限公司 | Detection robot |
| CN111572665A (en) * | 2020-05-30 | 2020-08-25 | 日照亚创电子科技有限公司 | Wall climbing robot for detecting and maintaining water cooled wall of power plant boiler |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113983955A (en) * | 2021-10-25 | 2022-01-28 | 山东金特装备科技发展有限公司 | Contour scanning magnetic wall-climbing robot |
| CN115573544A (en) * | 2022-10-21 | 2023-01-06 | 中铁十局集团城建工程有限公司 | Purlin spraying operation walking robot with variable rail width and variable rail distance |
| CN116175515A (en) * | 2023-03-20 | 2023-05-30 | 江苏省送变电有限公司 | Spraying type marking robot for paying off |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112319644A (en) | Wall climbing detection robot | |
| US5565633A (en) | Spiral tractor apparatus and method | |
| EP1483545B1 (en) | Apparatus for inspecting deformation of pipes | |
| JP5649599B2 (en) | Ultrasonic inspection apparatus and inspection method thereof | |
| CN103453848A (en) | Device and method for measuring shape, position and dimension features of machine elements | |
| JP5512310B2 (en) | Pipe thinning measuring device | |
| CN110118307B (en) | Small-sized pipeline leakage detection device and detection method for nuclear power plant | |
| WO2020065659A1 (en) | Spherical robot for internal inspection of pipelines | |
| KR101986428B1 (en) | Pipe inspection robot | |
| JP2007285772A (en) | Pipe inspection method, and pipe inspection device used therefor | |
| Jeon et al. | Development of high mobility in-pipe inspection robot | |
| ES2976777T3 (en) | A calibration scraper for detecting geometric deformation of a pipe | |
| US20140197829A1 (en) | Mobile carrier system for at least one sensor element designed for non-destructive testing | |
| Elankavi et al. | Design and motion planning of a wheeled type pipeline inspection robot | |
| KR20210066496A (en) | Pipe inspection robot and pipe inspection method using the same | |
| JP4255674B2 (en) | Thickness measuring system for large diameter pipes | |
| Jalal et al. | Design and development of robotic system for visual inspection of boiler tube inner surface | |
| JP2004125752A (en) | Measuring apparatus and measuring method | |
| CN210442314U (en) | Probe for oil rod magnetic leakage flaw detector | |
| JP5740283B2 (en) | Pipe thickness measuring device | |
| CN112033325A (en) | High-performance aluminum alloy material detection platform | |
| CN116398743A (en) | Pipeline nondestructive testing robot | |
| JP6551950B2 (en) | Steel material inspection equipment | |
| JP5813735B2 (en) | Non-destructive inspection equipment for piping | |
| CN220207524U (en) | Ultrasonic flaw detection device for special-shaped main truss weld joint |
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: 20210205 |
|
| RJ01 | Rejection of invention patent application after publication |