CN205302962U - A wall climbing robot that is used for nuclear power station steel containment wall to detect and system thereof - Google Patents
A wall climbing robot that is used for nuclear power station steel containment wall to detect and system thereof Download PDFInfo
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- CN205302962U CN205302962U CN201520814640.6U CN201520814640U CN205302962U CN 205302962 U CN205302962 U CN 205302962U CN 201520814640 U CN201520814640 U CN 201520814640U CN 205302962 U CN205302962 U CN 205302962U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The utility model relates to a wall climbing robot that is used for nuclear power station steel containment wall to detect and system thereof. A wall climbing robot includes platform frame that is used for nuclear power station steel containment wall to detect, the last cantilever that is equipped with of platform frame, establish the crawler -type moving mechanism in the platform frame both sides respectively, it is used for making wall climbing robot to remove, the setting is in coating surface characteristic detection device on the cantilever, it is used for detecting the coating surface characteristic, the setting is in the bottom controller and the driver at the last rear portion of platform frame, the setting is in the power and the communication device of the last front portion of platform frame, and set up the magnetism adsorption apparatus at platform frame's the back constructs and sensor array.
Description
Technical field
The utility model relates to a kind of climbing robot, in particular to a kind of climbing robot and system thereof detecting for steel containment vessel of nuclear power station wall.
Background technology
The nuclear power energy of safety is a kind of clean energy resource of high-energy source density, to preserving the ecological environment, readjust the energy structure and ensureing that energy security plays an important role. Once but safety problem appears in nuclear power station, will bring huge threat to staff, periphery resident and ecological environment etc. The problem that when nuclear plant safety problem is the application nuclear power energy for this reason, necessary emphasis is considered. For nuclear power station, containment is to prevent the reactor core radioactivity last physical barriers that leaks.
The containment of nuclear power station comprises concrete casing and internal steel containment. Steel containment vessel comprises shell portion and dome part, and wherein the diameter of shell portion is approximately 40 meters, and total height approaches 66 meters, and thickness is about 45 millimeters, and the inner surface of steel containment vessel and outer surface are coated with inorganic zinc coating. Inorganic zinc coating is mainly used in preventing that steel containment vessel from corroding and hydrophobic property is provided, with the moisture film heat exchange that promotes that steel containment vessel surface forms.
Containment is the important composition of Passive containment cooling system. In Passive containment cooling system running, there is condensing heat-exchange in steel containment vessel inner surface, the heat conduction of steel containment vessel and the moisture film of steel containment vessel outside need to set out the heat in steel containment vessel, and steel containment vessel is the critical passage that in shell, heat sets out. The coating surface characteristic of steel containment vessel comprises coating surface spot, crackle and peels off situation etc. They are keys of containment structure integrity failure harm Monitoring and prevention, and being also affect moisture film to flow and the key of the heat-carrying performance factor such as heat transmission.
As time goes on, peeling off even appears in face coat year by year attenuate, and it can cause box hat corrosion, also can reduce heat-carrying performance. The spot of steel containment vessel outer surface and steel containment vessel outer surface inorganic zinc disbonding can cause box hat corrosion, to cause heat-carrying hydraulic performance decline, there is crackle in the housing of steel containment vessel more seriously, accelerated corrosion, cause steel containment vessel structural failure, thus accidents caused.
Therefore need coating and face crack to steel containment vessel to detect. Because the space between steel containment vessel and deflector is narrower and small, if the distance between steel containment vessel outer surface and deflector is approximately 300 millimeters, and housing whole height is higher, shell interior spatial structure complexity, and this small space is difficult to carry out manual work. So adopting the coating of automatic detecting machine device people to containment and face crack to carry out in-service detection is optimal selection.
In the prior art, the climbing robot not detecting for passive PWR containment wall. As mentioned above, passive PWR containment adopts double-decker, containment outer surface and deflector interval are very narrow and small, and housing whole height is higher, containment wall has the auxiliary equipment such as a large amount of manholes, complex structure, the wall that causes existing Climbing Robot System not to be suitable for passive PWR containment detects. Because the Climbing Robot System of currently available technology does not have the various surface state measuring abilities such as face coat thickness, burn into spot, crackle, do not possess Multi-sensor Fusion and the integrated functionalities such as containment shell nondestructive inspection yet.
Thus, need to provide a kind of climbing robot, coating and face crack to steel containment vessel of nuclear power station wall detect.
Utility model content
For the problems of the prior art, the utility model proposes a kind of climbing robot detecting for steel containment vessel of nuclear power station wall.
Comprise paralell according to the climbing robot detecting for steel containment vessel of nuclear power station wall of preferred embodiment of the present utility model, described paralell is provided with cantilever; Be located at respectively the crawler-type mobile mechanism of paralell both sides, it is for moving climbing robot; Be arranged on the coating surface characteristic detection device on described cantilever, it is for detection of coating surface characteristic; Be arranged on bottom controller and the driver at the rear portion on described paralell; Be arranged on anterior power supply and communicator on described paralell; And be arranged on magnetic adsorption engine structure and the sensor array at the back side of described paralell.
Comprise paralell according to the Climbing Robot System detecting for steel containment vessel of nuclear power station wall of another preferred embodiment of the present utility model, described paralell is provided with cantilever; Absorption and travel mechanism's subsystem, the crawler-type mobile mechanism that it comprises the magnetic adsorption engine structure at the back side that is arranged on described paralell and is located at respectively paralell both sides; Power subsystem, it comprises the anterior power supply being arranged on described paralell, for electric power is provided; Multi-sensor Fusion and integral subsystem, the back side sensor array that it comprises the coating surface characteristic detection device being arranged on described cantilever and is arranged on described paralell; Bottom control and driver sub-system, it comprises the bottom controller and the driver that are arranged on the rear portion on described paralell; Communication subsystem, it comprises the anterior communicator being arranged on described paralell; And upper strata planning and navigation subsystem, it receives the information of bottom control and driver sub-system by communication subsystem, and according to the information planning robot's who receives task, assigns control instruction to bottom control and driver sub-system.
According to preferred embodiment of the present utility model, described magnetic adsorption engine structure adopts contactless suction type, and magnetic module and containment surface are maintained a certain distance, thereby has avoided the wearing and tearing of effects on surface coating.
According to preferred embodiment of the present utility model, the method that described magnetic adsorption engine structure adopts electromagnetism absorption and permanent magnetic suck to combine, thus optimize absorption property.
According to preferred embodiment of the present utility model, described crawler belt travel mechanism adopts the both sides mode driving independent of one another, and both sides are symmetrical structure, and wherein every limit is provided with two structures wheels, a driving wheel and a pretension support wheel.
According to preferred embodiment of the present utility model, described sensor array comprises electromagnetic type coating thickness measurement sensor, and electromagnetic eddy Non-Destructive Testing sensor, photoelectric encoder, and gyroscope and acceleration transducer.
Pass through the utility model, make climbing robot can realize absorption walking and the Data Detection on the containment inside and outside wall surface (cylindrical shell and dome) automatically and under Artificial Control pattern, realize the in-service state-detection of containment and data processing and analysis by checkout gears such as integrated application space orientation, machine vision, magnetic strength measurement, electromagnetic eddy detections. The plurality of advantages such as climbing robot of the present utility model has high adsorption capacity, load weight is large, operating efficiency is high, wall strong adaptability, capacity usage ratio is high, cruising time is long, multi-measurement sensor fusion, can adapt to the service requirement of the in-service running environment of nuclear power station. The present invention can directly serve engineering application, be a kind of have significant application value, larger economic benefit, can Industry Promotion potential type product.
In Advanced passive pressurized water reactor nuclear power station running, in-service detection is an important quality assurance measure and Production Safety Precaution Work. The present invention can significantly improve operating efficiency, is reducing the accuracy and the promptness that on the basis of people because of factor mistake, improve testing result, thereby is improving safety precautions ability.
Climbing robot involved in the present invention can be directly used in nuclear power station and operate in and use use, there is larger economic benefit, meanwhile, on advanced nuclear power technology, there is important scientific research value and social effect to supporting automation, electric power and electronics, advanced test, Machine Design and Robotics and CAE application process to study mixing together and be applied in.
Brief description of the drawings
At length discuss above and other of the present utility model aspect below in conjunction with accompanying drawing, in accompanying drawing:
Fig. 1 is according to the schematic diagram of the climbing robot of preferred embodiment of the present utility model.
Fig. 2 is according to the schematic diagram of the climbing robot of another preferred embodiment of the present utility model.
Fig. 3 is according to the schematic diagram of the climbing robot of another preferred embodiment of the present utility model.
Fig. 4 is the block diagram that detects Climbing Robot System according to the non-passive safety shell wall face of preferred embodiment of the present utility model.
Fig. 5 is according to the schematic diagram of the absorption of preferred embodiment of the present utility model and travel mechanism's subsystem.
Fig. 6 is according to the schematic diagram of the Multi-sensor Fusion of preferred embodiment of the present utility model and integral subsystem.
Fig. 7 is according to the schematic diagram of the bottom control of preferred embodiment of the present utility model and driver sub-system.
Fig. 8 is the schematic diagram with navigation subsystem according to the upper strata planning of preferred embodiment of the present utility model.
Fig. 9 and Figure 10 are according to the schematic diagram of the side of the climbing robot of preferred embodiment of the present utility model.
Reference numerals list
| 1 | Bottom controller |
| 2 | Driver |
| 3 | Crawler belt travel mechanism |
| 4 | Coating surface characteristic detection device |
| 5 | Power subsystem |
| 6 | Communication subsystem |
| 7 | Magnetic adsorption engine structure |
| 8 | Sensor array |
Detailed description of the invention
Optional embodiment of the present utility model is described with reference to the accompanying drawings to instruct those of ordinary skill in the art how to implement and to reproduce the utility model. In order to instruct technical solutions of the utility model, simplify or omitted some conventional aspects. It should be understood by one skilled in the art that and be derived from the modification of these embodiments or replace and will drop in protection domain of the present utility model. It should be understood by one skilled in the art that following characteristics can combine to form multiple modification of the present utility model in every way. Thus, the utility model is not limited to following optional embodiment, and is only limited by claim and their equivalent.
The coating surface characteristic of steel containment vessel of nuclear power station comprises coating surface spot, crackle and peels off situation. Coating surface characteristic detection device uses machine vision to gather image, can be detected coating surface spot, the coating crack on steel containment vessel surface and be peeled off situation by Pattern recognition and image processing. Coating thickness measurement sensor is for detection of the thickness of steel containment vessel face coat. Electromagnetic eddy Non-Destructive Testing sensor is for detection of the face crack of steel containment vessel housing, to judge the integrality of steel containment vessel housing.
Referring to figs. 1 through Fig. 3, it shows according to climbing robot of the present utility model. The major function of climbing robot can be divided into: coating surface Characteristics Detection; Coating thickness measurement; And containment shell surface crack testing. Fig. 4 shows the block diagram that detects Climbing Robot System according to non-passive safety shell wall face of the present utility model, wherein Climbing Robot System can comprise power subsystem, Multi-sensor Fusion and integral subsystem, absorption and travel mechanism's subsystem, bottom control and driver sub-system, communication subsystem and upper strata planning and Navigation Control subsystem.
As shown in Figure 1, climbing robot has for mobile crawler-type mobile mechanism 3, be useful on the coating surface characteristic detection device 4 that detects coating surface characteristic in the front-end configuration of climbing robot, be useful on the bottom controller 1 of bottom control and the driver 2 for driving in the backend arrangement of climbing robot, wherein bottom controller 1 and driver 2 have formed bottom control and driver sub-system. Bottom controller 1 and driver 2 are arranged on the paralell of climbing robot, are also provided with cantilever for hanging coating surface characteristic detection device 4 on this paralell. Crawler-type mobile mechanism 3 is located at respectively paralell both sides.
As shown in Figure 2, on the paralell of climbing robot, also there is the power subsystem 5 that comprises power supply and the communication subsystem 6 that comprises communicator. Power subsystem 5 is for providing climbing robot work required energy, and it is by voltage transformation module, is respectively the parts such as sensor, controller and driver in each system in robot system electric power is provided. Communication subsystem 6 of the present utility model can adopt communication.
As shown in Figure 3, be provided with magnetic adsorption engine structure 7 and sensor array 8 at the back side of the paralell of climbing robot. For providing the magnetic adsorption engine structure 7 of adsorption capacity and for providing the crawler-type mobile mechanism 3 of locomitivity to form absorption of the present utility model and travel mechanism's subsystem. Magnetic adsorption engine structure 7 provides adsorption capacity in the attached mode of magnetic as climbing robot, it has adopted contactless suction type,, magnetic module and containment surface maintain a certain distance, the wearing and tearing of effects on surface coating are avoided like this, the method that magnetic adsorption engine structure can adopt electromagnetism absorption and permanent magnetic suck to combine, thus optimize absorption property. For example, in the time that vertically wall is creeped, use permanent magnetic suck, while creeping at internal face top, use permanent magnetic suck and electromagnetism to adsorb coefficient mode. The contact area with containment wall has improved in crawler-type mobile mechanism 3, thereby provides locomitivity for climbing robot. Crawler belt travel mechanism 3 adopts the both sides mode driving independent of one another, and both sides are symmetrical structure. Every limit is provided with two structure wheels, a driving wheel and a pretension support wheel. Fig. 5 shows in detail according to the schematic diagram of absorption of the present utility model and travel mechanism's subsystem.
Referring back to Fig. 3, the bottom of climbing robot disposes sensor array 8, and this sensor array 8 has formed Multi-sensor Fusion of the present utility model and integral subsystem with coating surface characteristic detection device 4. Multi-sensor Fusion and integral subsystem are for containment coating surface Characteristics Detection, coating thickness measurement, surface of shell nondestructive inspection, and wherein coating surface Characteristics Detection mainly comprises coating surface spot, crackle and peels off situation etc. Multi-sensor Fusion and integral subsystem can comprise coating surface characteristic detection device, electromagnetic type coating thickness measurement sensor, electromagnetic eddy Non-Destructive Testing sensor, photoelectric encoder and gyroscope and acceleration transducer. Wherein, coating surface characteristic detection device gathers image, is detected coating surface spot, the coating crack on containment surface and is peeled off situation by Pattern recognition and image processing. Electromagnetic type coating thickness measurement sensor can detect the one-tenth-value thickness 1/10 of containment face coat. Electromagnetic eddy Non-Destructive Testing sensor can detect the face crack of containment shell, thereby judges the integrality of containment shell. Photoelectric encoder can calculate the distance that climbing robot moves. Gyroscope and acceleration transducer can detect direction and the inclination angle that climbing robot moves. Thereby thus can be by the integrated multiple measurement device of controller and mode monitoring containment. Fig. 6 shows in detail according to the schematic diagram of Multi-sensor Fusion of the present utility model and integral subsystem. Wherein Multi-sensor Fusion and integral subsystem comprise coating surface characteristic detection device, electromagnetic type coating thickness measurement sensor, electromagnetic eddy detecting sensor, photoelectric encoder and gyroscope and acceleration transducer. What coating surface characteristic detection device used is machine vision, for example industrial camera, gather image by machine vision, detect the coating surface characteristic of steel containment vessel by Pattern recognition and image processing, coating surface characteristic detection device is for detection of surface blot, coating crack and disbonding situation. The sensor array independent action of coating surface characteristic detection device and robot bottom, is independent of each other. Electromagnetic type coating thickness measurement sensor is for detection of coating layer thickness. Electromagnetic eddy detecting sensor is for detection of containment shell face crack. Photoelectric encoder is for robot ambulation range measurement. Gyroscope and acceleration transducer are for robot motion's direction and measurement of dip angle. Wherein, photoelectric encoder and gyroscope and acceleration transducer can be arranged on other positions of robot, also can be arranged in sensor array.
Referring back to Fig. 1, bottom controller 1 and driver 2 have formed bottom control and driver sub-system. Bottom control and driver sub-system can be divided into control module and driver module. Control module can adopt the embedded controller of miniaturization, thereby can reduce the volume of climbing robot. Control module is for the collection of sensing data, and the communicating by letter of execution and upper strata planning and Navigation Control subsystem, thus execution control instruction. Driver module can adopt motor drive mode, sends instruction by controller to driver, then by driver drives motor rotation. Fig. 7 shows in detail according to the schematic diagram of bottom control of the present utility model and driver sub-system.
With reference to Fig. 8, it shows upper strata planning and navigation subsystem. For example upper strata planning can be the computer of remote control room with Navigation Control subsystem. Upper strata planning and navigation subsystem are monitored the state of climbing robot by the transmission of video data, assign control instruction to climbing robot, bottom control and driver sub-system can be fed back response message after receiving control instruction, upper strata planning receives response message with navigation subsystem, obtains the measurement data of climbing robot front end sensors simultaneously. Thus, absorption walking and Data Detection that climbing robot can be realized the containment inside and outside wall surface (cylindrical shell and dome) automatically and under Artificial Control pattern, realize the in-service state-detection of containment and data processing and analysis.
Fig. 9 and Figure 10 show according to the schematic diagram of the side of climbing robot of the present utility model. In the operating process of Climbing Robot System, power subsystem provides climbing robot required energy, and is other subsystem power supplies. Multi-sensor Fusion and integral subsystem are for containment coating surface characteristic, coating layer thickness and surface of shell crack detection, simultaneously for upper strata planning provides robot location and attitude information with navigation subsystem. Absorption and travel mechanism subsystem adopt magnetic suction type to provide adsorption capacity for robot, and adopt crawler-type mobile structure to provide locomitivity for robot. Bottom control and driver sub-system gather the sensor information of Multi-sensor Fusion and integral subsystem, and by communication subsystem, communication is planned and navigation subsystem to upper strata, receive the control instruction of upper strata planning and navigation subsystem simultaneously, drive absorption and mover system to perform an action according to control instruction. Communication subsystem realizes the transfer of data between bottom control and driver sub-system and upper strata planning and navigation subsystem, repeat-back, and order transmitting-receiving waits operation. Upper strata planning receives the information of bottom control and driver sub-system with navigation subsystem by communication subsystem, and according to the information planning robot's who receives task, assigns control instruction to bottom control and driver sub-system.
Although it is preferred embodiment above-mentioned that the utility model patent has been enumerated, but should illustrate that the utility model includes but not limited to the mentioned content arriving of description, technician can be by optimizing and retrofiting, therefore in variation or remodeling process, depart from the scope of the utility model patent, otherwise all should comprise within the scope of the utility model.
Claims (10)
1. the climbing robot detecting for steel containment vessel of nuclear power station wall, is characterized in that, it comprises:
Paralell, described paralell is provided with cantilever;
Be located at respectively the crawler-type mobile mechanism of paralell both sides, it is for moving climbing robot;
Be arranged on the coating surface characteristic detection device on described cantilever, it uses machine vision, gathers image by machine vision, detects the coating surface characteristic of steel containment vessel by Pattern recognition and image processing;
Be arranged on bottom controller and the driver at the rear portion on described paralell;
Be arranged on anterior power supply and communicator on described paralell; And
Be arranged on magnetic adsorption engine structure and the sensor array at the back side of described paralell.
2. climbing robot according to claim 1, it is characterized in that, described sensor array comprises electromagnetic type coating thickness measurement sensor and electromagnetic eddy detecting sensor, wherein said electromagnetic type coating thickness measurement sensor is for detection of coating layer thickness, and described electromagnetic eddy detecting sensor is for detection of containment shell face crack.
3. climbing robot according to claim 1 and 2, it is characterized in that, it also comprises photoelectric encoder and gyroscope and acceleration transducer, described photoelectric encoder is for robot ambulation range measurement, described gyroscope and acceleration transducer be for robot motion's direction and measurement of dip angle, and wherein said photoelectric encoder and described gyroscope and acceleration transducer are arranged in sensor array or other positions of climbing robot.
4. climbing robot according to claim 3, is characterized in that, described coating surface characteristic comprises surface blot, coating crack and disbonding situation.
5. climbing robot according to claim 4, it is characterized in that, the mode that described magnetic adsorption engine structure adopts electromagnetism absorption and permanent magnetic suck to combine, and with contactless suction type, magnetic module and containment surface are maintained a certain distance, thereby avoided the wearing and tearing of effects on surface coating.
6. climbing robot according to claim 5, it is characterized in that, described crawler belt travel mechanism adopts the both sides mode driving independent of one another, and both sides are symmetrical structure, and wherein every limit is provided with two structures wheels, a driving wheel and a pretension support wheel.
7. the Climbing Robot System detecting for steel containment vessel of nuclear power station wall, is characterized in that, it comprises:
Paralell, described paralell is provided with cantilever;
Absorption and travel mechanism's subsystem, the crawler-type mobile mechanism that it comprises the magnetic adsorption engine structure at the back side that is arranged on described paralell and is located at respectively paralell both sides;
Power subsystem, it comprises the anterior power supply being arranged on described paralell, for electric power is provided;
Multi-sensor Fusion and integral subsystem, the back side sensor array that it comprises the coating surface characteristic detection device being arranged on described cantilever and is arranged on described paralell, wherein coating surface characteristic detection device uses machine vision, gather image by machine vision, detect the coating surface characteristic of steel containment vessel by Pattern recognition and image processing;
Bottom control and driver sub-system, it comprises the bottom controller and the driver that are arranged on the rear portion on described paralell;
Communication subsystem, it comprises the anterior communicator being arranged on described paralell; And
Upper strata planning and navigation subsystem, it receives the information of bottom control and driver sub-system by communication subsystem, and according to the information planning robot's who receives task, assigns control instruction to bottom control and driver sub-system.
8. Climbing Robot System according to claim 7, it is characterized in that, described sensor array comprises electromagnetic type coating thickness measurement sensor and electromagnetic eddy detecting sensor, wherein said electromagnetic type coating thickness measurement sensor is for detection of coating layer thickness, described electromagnetic eddy detecting sensor is for detection of containment shell face crack, described Climbing Robot System also comprises photoelectric encoder and gyroscope and acceleration transducer, described photoelectric encoder is for robot ambulation range measurement, described gyroscope and acceleration transducer are for robot motion's direction and measurement of dip angle, wherein said photoelectric encoder and described gyroscope and acceleration transducer are arranged in sensor array or other positions of climbing robot.
9. Climbing Robot System according to claim 8, it is characterized in that, the mode that described magnetic adsorption engine structure adopts electromagnetism absorption and permanent magnetic suck to combine, and with contactless suction type, magnetic module and containment surface are maintained a certain distance, thereby avoided the wearing and tearing of effects on surface coating.
10. Climbing Robot System according to claim 9, it is characterized in that, described crawler belt travel mechanism adopts the both sides mode driving independent of one another, and both sides are symmetrical structure, and wherein every limit is provided with two structures wheels, a driving wheel and a pretension support wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520814640.6U CN205302962U (en) | 2015-10-21 | 2015-10-21 | A wall climbing robot that is used for nuclear power station steel containment wall to detect and system thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520814640.6U CN205302962U (en) | 2015-10-21 | 2015-10-21 | A wall climbing robot that is used for nuclear power station steel containment wall to detect and system thereof |
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| CN205302962U true CN205302962U (en) | 2016-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520814640.6U Expired - Fee Related CN205302962U (en) | 2015-10-21 | 2015-10-21 | A wall climbing robot that is used for nuclear power station steel containment wall to detect and system thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105973978A (en) * | 2016-07-07 | 2016-09-28 | 江苏方天电力技术有限公司 | Device and method for automatically detecting annular cracks of fire facing side of water-cooling wall of boiler |
| CN106335040A (en) * | 2016-09-29 | 2017-01-18 | 广东石油化工学院 | Special wall-climbing robot for oil tank maintenance |
| CN109521021A (en) * | 2018-12-07 | 2019-03-26 | 中广核工程有限公司 | A kind of nuclear power plant containment shell appearance inspecting system and method |
| CN109571402A (en) * | 2018-12-12 | 2019-04-05 | 杭州申昊科技股份有限公司 | A kind of climbing mechanism, climbing intelligent inspection robot and its substation's hill-climbing method |
| CN110206562A (en) * | 2019-06-24 | 2019-09-06 | 徐州秩润矿山设备科技有限公司 | A kind of concrete spraying machine automatic injection climbing robot and its working method |
| CN110936395A (en) * | 2019-12-28 | 2020-03-31 | 张文娅 | Automatic special robot device who changes |
| CN111355903A (en) * | 2018-12-20 | 2020-06-30 | 核动力运行研究所 | Distributed camera structure based on linear array |
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2015
- 2015-10-21 CN CN201520814640.6U patent/CN205302962U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105973978A (en) * | 2016-07-07 | 2016-09-28 | 江苏方天电力技术有限公司 | Device and method for automatically detecting annular cracks of fire facing side of water-cooling wall of boiler |
| CN106335040A (en) * | 2016-09-29 | 2017-01-18 | 广东石油化工学院 | Special wall-climbing robot for oil tank maintenance |
| CN109521021A (en) * | 2018-12-07 | 2019-03-26 | 中广核工程有限公司 | A kind of nuclear power plant containment shell appearance inspecting system and method |
| CN109571402A (en) * | 2018-12-12 | 2019-04-05 | 杭州申昊科技股份有限公司 | A kind of climbing mechanism, climbing intelligent inspection robot and its substation's hill-climbing method |
| CN111355903A (en) * | 2018-12-20 | 2020-06-30 | 核动力运行研究所 | Distributed camera structure based on linear array |
| CN110206562A (en) * | 2019-06-24 | 2019-09-06 | 徐州秩润矿山设备科技有限公司 | A kind of concrete spraying machine automatic injection climbing robot and its working method |
| CN110206562B (en) * | 2019-06-24 | 2023-12-12 | 徐州秩润矿山设备科技有限公司 | Automatic spraying wall climbing robot for concrete wet spraying machine and working method of automatic spraying wall climbing robot |
| CN110936395A (en) * | 2019-12-28 | 2020-03-31 | 张文娅 | Automatic special robot device who changes |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160608 Termination date: 20181021 |
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| CF01 | Termination of patent right due to non-payment of annual fee |