CN206292207U - Climb wall detection robot - Google Patents
Climb wall detection robot Download PDFInfo
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- CN206292207U CN206292207U CN201621392346.1U CN201621392346U CN206292207U CN 206292207 U CN206292207 U CN 206292207U CN 201621392346 U CN201621392346 U CN 201621392346U CN 206292207 U CN206292207 U CN 206292207U
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Abstract
The utility model belongs to mechanical automation engineering field, and specifically one kind climbs wall detection robot, and driving wheel part is separately mounted to the rear and front end of underbody flat board with driven pulley component, and driving wheel part is connected by transmission device with motor；Video detection system is arranged on the front end of underbody flat board, flaw detection and thickness detecting system are located at behind the video detection system, including detection fixed plate, resilient support assemblies, calibrator component and magnetic powder flaw detector, detection fixed plate is connected by resilient support assemblies with underbody flat board, it is scalable relative to underbody flat board, calibrator component is each passed through underbody flat board and is arranged in detection fixed plate with magnetic powder flaw detector, and magnetic powder flaw detector fits in detection plane all the time with detection the flexible of fixed plate.The utility model can realize operating personnel away from detection scene, and preferably complete equipment surface Detection task；Can be in work such as the complex work such as curved surface, circular arc interface examinations, inspections using wheel moving platform.
Description
Technical field
The utility model belongs to mechanical automation engineering field, and specifically one kind climbs wall detection robot.
Background technology
At present, the oil storage tank for largely containing different petroleum chemicals is used in petrochemical industry, because the material that it is stored is most
With inflammable, explosive and toxic, belong to high energy harmfulness operating unit.Oil storage tank is in use for some time, miscellaneous in crude oil
Matter will be deposited in tank bottom and tank skin, reduce oil storage tank available capacity, influence the efficiency of oil storage tank.
A large amount of construction with Chinese large-sized petroleum storage tank and the pay attention to day by day to environmental protection problem, manual work is not
Meet the objective requirement of environment and development, superseded manual work is the certainty of history.
With the appearance and development of robot technology, people are highly desirable to be replaced manually carrying out operation with robot.Climb
The appearance of wall detection robot just meets such requirement.It is by mobile technology and wall adsorption skill to climb wall detection robot
The specialized robot that art is combined, can realize being moved in hazardous environments such as vertical walls, and can carry the completion detection of detection instrument
And job task is inspected, greatly expand the range of application of robot.In the last thirty years, many scholars are climbing wall detection robot
Structure design and adsorption technology aspect studied, have developed and much can be used for large-scale oil storage tank Surface testing and dimension
The welding of the large scale equipments such as shield, large ship, the robot of detection, to improve production efficiency, reduce labor strength and operation
Risk, embodies huge application value and Research Significance.The wall detection robot of climbing of existing development ＆ production is all caterpillar band type,
Reliability for arc outer wall, inwall absorption is not high, easily drops and damages robot.
Utility model content
It is poor for the inside and outside wall absorption reliability of arc in order to solve the problems, such as existing crawler-type wall climbing detection robot, this
The purpose of utility model is to provide a kind of wall of climbing that can carry out climbing operation on the inside and outside wall of cylinder and on various curved surfaces to examine
Survey robot.This climbs wall detection robot has the advantages that small volume, convenient and swift, while various instrument and equipments can be realized
Carrying is used.
The purpose of this utility model is achieved through the following technical solutions：
The utility model includes flaw detection and thickness detecting system, video detection system and chassis system, wherein chassis system
Including underbody flat board, driven pulley component, motor and driving wheel part, the driving wheel part is pacified respectively with driven pulley component
Mounted in the rear and front end of underbody flat board, the driving wheel part is by transmission device and the driving electricity being arranged on the underbody flat board
Machine is connected；The video detection system is arranged on the front end of underbody flat board, and the flaw detection and thickness detecting system are located at the video
Behind detecting system, including fixed plate, resilient support assemblies, calibrator component and magnetic powder flaw detector are detected, the detection is fixed
Plate is connected by resilient support assemblies with the underbody flat board, scalable relative to the underbody flat board, the calibrator component with
Magnetic powder flaw detector is each passed through underbody flat board and is arranged in detection fixed plate, and the magnetic powder flaw detector is stretched with the detection fixed plate
Contracting fits in detection plane all the time；
The resilient support assemblies include lid, spring and spring pedestal on spring, and the spring pedestal is arranged on the underbody
On flat board, lid is connected with detection fixed plate on the spring, the sky that the spring retention is surrounded in lid on spring with spring pedestal
Interior, two ends are connected with lid, spring pedestal on the spring respectively；The detection fixed plate is square, and its corner is equipped with described
Resilient support assemblies, the top of the magnetic powder flaw detector is fixed in the centre position of the detection fixed plate by connecting rod, lower end with
Detection plane laminating, the calibrator component is located at the side rear of magnetic powder flaw detector, and top is fixed in the detection fixed plate；
The calibrator component includes fixed cylinder, electromagnet, detecting head and probe fixed seat, and the upper end of the fixed cylinder is installed
In the detection fixed plate, the electromagnet is arranged in fixed cylinder, and the push rod lower end of the electromagnet is by the fixed cylinder
Lower end is stretched out, is connected with probe fixed seat, and the detecting head is arranged in the probe fixed seat；
The video detection system includes aerofoil fan, video housing, camera and fixed auricle, and the video housing passes through
The fixed auricle is arranged on underbody flat board, and the aerofoil fan and camera are installed in video housing, the axle stream wind
Fan is directed at the camera positioned at the rear of camera, air outlet；The relative both sides of the video housing are by fixed auricle
It is connected with underbody flat board, the fixed auricle is L-shaped, the side long for being somebody's turn to do " L " shape is connected with the video housing, and short side is fixed on
On the underbody flat board, the cambered way for adjusting camera video angle is offered on the side long of " L " shape；
The driven pulley component, motor, transmission device and driving wheel part are two groups, are symmetricly set on the underbody
The left and right sides of flat board lower surface, driving wheel part, transmission device, motor and driven pulley are installed per side successively from front to back
Component；The driving wheel part includes the inside and outside permanent magnetic wheels piece and rubber wheel piece for setting, and is connected by screw rod between each wheel piece；Institute
It is eccentric everything wheel to state driven pulley component, is fixed on the underbody flat board by shank of bolt；The driving wheel part also includes
Cleaning assemblies, the cleaning assemblies includes geometrical clamp and nonmetallic scraper plate, and the geometrical clamp is arranged on underbody flat board and is clamped with
Nonmetallic scraper plate, the leading edge of the nonmetallic scraper plate is abutted with the permanent magnetic wheels piece and rubber wheel piece；The transmission device is cone tooth
Wheel transmission device, including yielding coupling, small coning gear shaft, bevel pinion, bevel gear wheel and large bevel gear shaft, the driving electricity
The output shaft of machine is connected by the yielding coupling with small coning gear shaft, and the large bevel gear shaft prolongs for the wheel shaft of driving wheel part
Stretch and form, the bevel pinion and bevel gear wheel are separately mounted on small coning gear shaft and large bevel gear shaft, and intermeshing is passed
It is dynamic.
Advantage of the present utility model is with good effect：
1. the utility model can realize operating personnel away from detection scene, and preferably complete equipment surface detection times
Business.
2. magneto adsorption design of the present utility model is simple and practical, and cost is less, is suitable to commercialization production.
3. wall of climbing of the present utility model detects that robot can be in complex works such as curved surface, circular arcs using wheel moving platform
The work such as interface examinations, inspection.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model；
Fig. 2 is the structural representation of the utility model chassis system；
Fig. 3 is the structural representation of the utility model resilient support assemblies；
Fig. 4 is one of structural representation of the utility model flaw detection and thickness detecting system；
Fig. 5 is the two of the structural representation of the utility model flaw detection and thickness detecting system；
Fig. 6 is the structural representation of the utility model video detection system；
Fig. 7 shows to be arranged on the structure of the driving system structure of the underbody flat board left and right sides in the utility model chassis system
It is intended to；
Fig. 8 is the structural representation of unilateral drive system in the utility model chassis system；
Fig. 9 is the structural representation of the utility model calibrator component；
Figure 10 is the internal structure sectional view of the utility model calibrator component；
Wherein：1 is locking pin, and 2 is detection fixed plate, and 3 is video detection system, and 4 is underbody flat board, and 5 is driven wheels
Part, 6 is magnetic powder flaw detector, and 7 is motor, and 8 is yielding coupling, and 9 is driving wheel part, and 10 is calibrator component, and 11 are
Covered on spring, 12 is spring, and 13 is spring pedestal, and 14 is resilient support assemblies, and 15 is connecting rod, and 16 is aerofoil fan, 17 videos
Housing, 18 is camera, and 19 is fixed auricle, and 20 is small coning gear shaft, and 21 is bevel pinion, and 22 is bevel gear wheel, and 23 is big
Bevel gear shaft, 24 permanent magnetic wheels pieces, 25 is rubber wheel piece, and 26 is geometrical clamp, and 27 is nonmetallic scraper plate, and 28 is fixed cylinder, and 29 is electricity
Magnet, 30 is detecting head, and 31 is probe fixed seat, and 32 is cambered way, and 33 is thimble, and 34 is push rod.
Specific embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, the utility model includes flaw detection and thickness detecting system, video detection system 3 and chassis system
Unite three parts, flaw detection and thickness detecting system and video detection system 3 are separately mounted on chassis system, video detection system 3
Installed in the front end of chassis system upper surface, flaw detection and thickness detecting system are arranged on behind video detection system 3.
Chassis system includes underbody flat board 4, driven pulley component 5, motor 7, transmission device and driving wheel part 9, should
Driven pulley component 5, motor 7, transmission device and driving wheel part 9 are two groups, are symmetricly set on the lower surface of underbody flat board 4
The left and right sides, driving wheel part 9, transmission device, motor 7 and driven pulley component 5 are installed per side successively from front to back.Drive
Wheel part 9 and driven pulley component 5 are separately mounted to the rear and front end of underbody flat board 4, the driving wheel part 9 by transmission device with
Motor 7 on underbody flat board 4 is connected.
As shown in Fig. 2, Fig. 7 and Fig. 8, driven pulley component 5 is fixed on using eccentric everything wheel by its shank of bolt for carrying
On underbody flat board 4；Driving wheel part 9 includes multi-disc wheel piece, and the wheel piece of the present embodiment includes inner side two panels permanent magnetic wheels piece 24 and outer
The a piece of rubber wheel piece 25 in side, is connected between three wheel pieces by screw rod.Driving wheel part 9 also includes cleaning assemblies, the cleaning group
Part includes geometrical clamp 26 and nonmetallic scraper plate 27, and geometrical clamp 26 is arranged on underbody flat board 4 and is clamped with nonmetallic scraper plate 27,
The leading edge of the nonmetallic scraper plate 27 is abutted with permanent magnetic wheels piece 24 and rubber wheel piece 25, is rotated in permanent magnetic wheels piece 24 and rubber wheel piece 25
During by take turns piece on foreign matter strike off.The two panels permanent magnetic wheels piece 24 of inner side is processed for permanent-magnet material, a piece of rubber in outside
Rubber tire piece 25 by nonmagnetic substance process, can be with damping energy-absorbing.
Transmission device is bevel gearing, including yielding coupling 8, small coning gear shaft 20, bevel pinion 21, auger
Gear 22 and large bevel gear shaft 23, motor 7 are fixed on the lower surface of underbody flat board 4, and output shaft passes through yielding coupling 8
It is connected with small coning gear shaft 20, bevel pinion 21 is installed on small coning gear shaft 20；The two ends of large bevel gear shaft 23 by bearing with
Underbody flat board 4 rotates connection, and centre is provided with bevel gear wheel 22 and the engaged transmission of bevel pinion 21.Meanwhile, large bevel gear shaft 23
Stretch out and be connected in insertion driving wheel part 9, and as driving wheel wheel shaft.When the rotation of motor 7 passes through Bevel Gear Transmission
Device is transmitted motion on driving wheel part 9, and driving is climbed wall detection robot body and advances, turns.
As shown in Fig. 1, Fig. 6, video detection system 3 is arranged on the front end of underbody flat board 4, including aerofoil fan 16, video
Housing 17, camera 18 and fixed auricle 19, the relative left and right sides of the video housing 17 are arranged on by fixed auricle 19
On underbody flat board 4, aerofoil fan 16 and camera 18 are installed in video housing 17, and the aerofoil fan 16 is located at camera 18
Rear, air outlet is directed at the camera 18.Fixed auricle 19 is L-shaped, and the side long for being somebody's turn to do " L " shape connects with video housing 17
Connect, short side is fixed on underbody flat board 4, cambered way 32 is offered on the side long of " L " shape, for regulation camera 18 manually
Video angle.
As shown in Fig. 1, Fig. 3~5, flaw detection and thickness detecting system are located at behind video detection system 3, including detection is solid
Fixed board 2, resilient support assemblies 14, calibrator component 10 and magnetic powder flaw detector 6, detection fixed plate 2 are square, and its corner is equipped with
Resilient support assemblies 14, the detection fixed plate 2 is connected by four resilient support assemblies 14 with underbody flat board 4, relative to the car
Base plate 4 is scalable.
Resilient support assemblies 14 include lid 11, spring 12 and spring pedestal 13 on spring, and the spring pedestal 13 is fixed on bottom
On the underbody flat board 4 of disc system, lid 11 is connected with detection fixed plate 2 on spring, and spring 12 is placed in lid 11 and spring on spring
In the space that base 13 is surrounded, two ends are connected with lid 11, spring pedestal 13 on the spring respectively.Calibrator component 10 is visited with magnetic
Hinder instrument 6 be each passed through underbody flat board 4 be arranged on detection fixed plate 2 on, the centre position hollow out of underbody flat board 4, the shape of hollow out with
Calibrator component 10 and magnetic powder flaw detector 6 are corresponding.The top of magnetic powder flaw detector 6 is fixed on detection and fixes by four connecting rods 15
The centre position of plate 2, lower end is fitted with detection plane, and calibrator component 10 is located at the side rear of magnetic powder flaw detector 6, and top is fixed
In detection fixed plate 2.
As shown in Fig. 4, Fig. 5, Fig. 9 and Figure 10, calibrator component 10 includes locking pin 1, fixed cylinder 28, electromagnet 29, spy
Gauge head 30 and probe fixed seat 31, the upper end of the fixed cylinder 28 are machined with two taper holes, and are machined with shoulder in upper end, and shoulder is used
In being stuck in detection fixed plate 2, two taper hole symmetrical machinings are used to be engaged with two locking pins 1, and by two locking pins 1
Being fixed in detection fixed plate 2 prevents fixed cylinder 28 from moving up and down and left rotation and right rotation.Electromagnet 29 is arranged in fixed cylinder 28, should
The lower end of push rod 34 of electromagnet 29 is stretched out by the lower end of fixed cylinder 28, and is fixedly connected with cylindric probe fixed seat 31, visits
Gauge head 30 is arranged in cylindric probe fixed seat 31, and is fixed by jackscrew 33.When battery iron 29 is powered, detecting head 30 and visit
Head fixed seat 31 together moves downward contacting metal working surface carries out thickness measuring；When electromagnet 29 is powered off, detecting head 30 and probe
Fixed seat 31 together sets back upwards.
Magnetic powder flaw detector of the invention 6 is commercial products, purchases and manufactures limited public affairs in the grand non-destructive detecting device in Sheyang County nine
Department, model CDX；Detecting head of the invention 30 is commercial products, is purchased in the ultrasonic thickness measurement of Changzhou ultrasonic electronic Co., Ltd
Instrument, model CST-2600；Electromagnet of the invention 29 is commercial products, purchases the peaceful Electrical Appliances Co., Ltd of Yu Xuanrui, model
XRN-36/70T。
Operation principle of the present utility model is：
The utility model is all symmetrical on intermediate vertical face except flaw detection and thickness detecting system, and motor 7 revolves
Turn to be transmitted motion on driving wheel part 9 by bevel gearing, driving is climbed wall detection robot body and advances, turns
Curved, the permanent magnetic wheels piece 24 in driving wheel part 9 is firmly adsorbed on metal working surface.
When climbing wall detection robot and carrying out detection operation in spherical tank, cylinder outer wall, wall detection robot rear and front end is climbed
Road surface it is low and the road surface of centre is high, climb wall detection robot driving wheel part 9 and driven pulley component 5 because having magnetic force institute
Tightly to adsorb in metal surface, the jack-up of magnetic powder flaw detector 6 that at this moment middle road surface high will contact.Because of magnetic powder flaw detector
6 are rigidly connected with detection fixed plate 2, so the also together motion upwards of detection fixed plate 2；Detection fixed plate 2 is by four bullets
Property support component 14 be connected with underbody flat board 4, so when detection fixed plate 2 upwards motion drive resilient support assemblies 14 in bullet
Spring 12 is stretched, and detection fixed plate 2 is carried out the fine setting in setting range while magnetic powder flaw detector 6 can be enable to paste well
Detection plane is closed, the operation such as carrying out flaw detection is carried out to metal plate or tube wall on the passage for climbing wall detection robot ambulation.
Battery iron 29 in calibrator component 10 is powered, and detecting head 30 and probe fixed seat 31 together move downward contact gold
Category working surface carries out thickness measuring；When electromagnet 29 is powered off, detecting head 30 and probe fixed seat 31 together set back upwards.
Camera 18 can shot detection surface video situation, so as to away from detection scene operating personnel control climb wall inspection
Survey the movement of robot.
Claims (10)
1. one kind climbs wall detection robot, it is characterised in that：Including flaw detection and thickness detecting system, video detection system (3) and
Chassis system, wherein chassis system include underbody flat board (4), driven pulley component (5), motor (7) and driving wheel part
(9), the driving wheel part (9) is separately mounted to the rear and front end of underbody flat board (4), the driving wheel with driven pulley component (5)
Partly (9) are connected by transmission device with the motor (7) on the underbody flat board (4)；The video detection system
, installed in the front end of underbody flat board (4), the flaw detection and thickness detecting system are after the video detection system (3) for system (3)
Face, including detection fixed plate (2), resilient support assemblies (14), calibrator component (10) and magnetic powder flaw detector (6), the detection are consolidated
Fixed board (2) is connected by resilient support assemblies (14) with the underbody flat board (4), scalable relative to the underbody flat board (4), institute
State calibrator component (10) and magnetic powder flaw detector (6) and be each passed through underbody flat board (4) in detection fixed plate (2), the magnetic
Powder defectoscope (6) fits in detection plane all the time with the flexible of detection fixed plate (2).
It is 2. according to claim 1 to climb wall detection robot, it is characterised in that：The resilient support assemblies (14) are including bullet
(11), spring (12) and spring pedestal (13) are covered on spring, the spring pedestal (13) is described on the underbody flat board (4)
Cover (11) on spring to be connected with detection fixed plate (2), the spring (12) is placed in covers (11) and spring pedestal (13) on spring
In the space for surrounding, two ends are connected with lid (11), spring pedestal (13) on the spring respectively.
It is 3. according to claim 1 and 2 to climb wall detection robot, it is characterised in that：Detection fixed plate (2) is in side
Shape, its corner is equipped with the resilient support assemblies (14), and the top of the magnetic powder flaw detector (6) is fixed in by connecting rod (15)
The centre position of the detection fixed plate (2), lower end is fitted with detection plane, and the calibrator component (10) is positioned at magnetic powder flaw detector
(6) side rear, top is fixed on detection fixed plate (2).
It is 4. according to claim 1 to climb wall detection robot, it is characterised in that：The calibrator component (10) is including fixation
Cylinder (28), electromagnet (29), detecting head (30) and probe fixed seat (31), the upper end of the fixed cylinder (28) are arranged on the detection
In fixed plate (2), in fixed cylinder (28), push rod (34) lower end of the electromagnet (29) is by described for the electromagnet (29)
The lower end of fixed cylinder (28) is stretched out, is connected with probe fixed seat (31), and the detecting head (30) is installed in the probe fixed seat
(31) in.
It is 5. according to claim 1 to climb wall detection robot, it is characterised in that：The video detection system (3) is including axle
Flow fan (16), video housing (17), camera (18) and fixed auricle (19), the video housing (17) is by the fixed ear
On underbody flat board (4), the aerofoil fan (16) and camera (18) are installed in video housing (17) piece (19),
The aerofoil fan (16) is directed at the camera (18) positioned at the rear of camera (18), air outlet.
It is 6. according to claim 5 to climb wall detection robot, it is characterised in that：The relative both sides of the video housing (17)
It is connected with underbody flat board (4) by fixed auricle (19), the fixed auricle (19) is L-shaped, is somebody's turn to do the side long and institute of " L " shape
State video housing (17) connection, short side is fixed on the underbody flat board (4), offered on the side long of " L " shape for
Adjust the cambered way (32) of camera (18) video angle.
It is 7. according to claim 1 to climb wall detection robot, it is characterised in that：The driven pulley component (5), motor
(7), transmission device and driving wheel part (9) are two groups, are symmetricly set on the left and right sides of underbody flat board (4) lower surface,
Driving wheel part (9), transmission device, motor (7) and driven pulley component (5) are installed successively from front to back per side.
8. wall detection robot is climbed according to claim 1 or 7, it is characterised in that：The driving wheel part (9) is including interior
The permanent magnetic wheels piece (24) and rubber wheel piece (25) of outer setting, are connected between each wheel piece by screw rod；The driven pulley component (5) is
Eccentric everything wheel, is fixed on the underbody flat board (4) by shank of bolt.
It is 9. according to claim 8 to climb wall detection robot, it is characterised in that：The driving wheel part (9) also includes clear
Clean component, the cleaning assemblies includes geometrical clamp (26) and nonmetallic scraper plate (27), and the geometrical clamp (26) is installed in underbody flat board
(4) on and it is clamped with nonmetallic scraper plate (27), the leading edge of the nonmetallic scraper plate (27) and the permanent magnetic wheels piece (24) and rubber wheel
Piece (25) is abutted.
10. wall detection robot is climbed according to claim 1 or 7, it is characterised in that：The transmission device is passed for bevel gear
Dynamic device, including yielding coupling (8), small coning gear shaft (20), bevel pinion (21), bevel gear wheel (22) and large bevel gear shaft
(23), the output shaft of the motor (7) is connected by the yielding coupling (8) with small coning gear shaft (20), the auger
Gear shaft (23) is formed for the wheel shaft of driving wheel part (9) extends, and the bevel pinion (21) and bevel gear wheel (22) are pacified respectively
On small coning gear shaft (20) and large bevel gear shaft (23), and intermeshing transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621392346.1U CN206292207U (en) | 2016-12-19 | 2016-12-19 | Climb wall detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621392346.1U CN206292207U (en) | 2016-12-19 | 2016-12-19 | Climb wall detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206292207U true CN206292207U (en) | 2017-06-30 |
Family
ID=59104912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621392346.1U Active CN206292207U (en) | 2016-12-19 | 2016-12-19 | Climb wall detection robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN206292207U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107487032A (en) * | 2017-07-18 | 2017-12-19 | 安徽都木工业设计有限公司 | A kind of handle automatic separating apparatus of handle mounting machine |
| CN108205012A (en) * | 2016-12-19 | 2018-06-26 | 中国科学院沈阳自动化研究所 | One kind climbs wall detection robot |
| CN110346446A (en) * | 2019-07-31 | 2019-10-18 | 中国石油大学(北京) | Non-destructive testing device |
-
2016
- 2016-12-19 CN CN201621392346.1U patent/CN206292207U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108205012A (en) * | 2016-12-19 | 2018-06-26 | 中国科学院沈阳自动化研究所 | One kind climbs wall detection robot |
| CN107487032A (en) * | 2017-07-18 | 2017-12-19 | 安徽都木工业设计有限公司 | A kind of handle automatic separating apparatus of handle mounting machine |
| CN110346446A (en) * | 2019-07-31 | 2019-10-18 | 中国石油大学(北京) | Non-destructive testing device |
| CN110346446B (en) * | 2019-07-31 | 2024-05-10 | 中国石油大学(北京) | Nondestructive testing device |
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