CN208744825U - A kind of flexible cable parallel drive robot for boiler exam maintenance - Google Patents
A kind of flexible cable parallel drive robot for boiler exam maintenance Download PDFInfo
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- CN208744825U CN208744825U CN201821603894.3U CN201821603894U CN208744825U CN 208744825 U CN208744825 U CN 208744825U CN 201821603894 U CN201821603894 U CN 201821603894U CN 208744825 U CN208744825 U CN 208744825U
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Abstract
The utility model discloses a kind of flexible cable parallel drive robot for boiler exam maintenance, including robot body part, drive part and control section, robot body part is the frame with multi-panel cube structure, one or more mechanical arm modules are provided on the frame, operational module is carried in the mechanical arm front end, can detection faces be detected and be repaired；Vision module is additionally provided on the frame, realize that robot kinematics video recording is taken pictures with triggering, the robot is by its running track of several groups drive control, wirerope one end in driving is connect with drive module, the other end is connect after pulley assembly with the robot in boiler, and drive part is controlled by control cabinet.The utility model overcomes the barrier of the prior art, and the flexible cable parallel drive robot load capacity researched and developed is strong, and movement is flexible, it is driven by cable support, it is as though walking upon flat ground under various complex working conditions, it can achieve people and the place that existing robot is unable to reach, complete job that requires special skills.
Description
Technical field
The utility model belongs to boiler exam maintenance of equipment technical field, and in particular to it is a kind of for boiler exam maintenance
Flexible cable parallel drive robot.
Background technique
Thermal power generation is occupied an leading position in China's power supply.In the boiler, heat is discharged after coal dust firing, these heat
Amount passes to medium in pipe by water screen tube, it is made to be converted to the power generation of superheated steam pushing turbine.Due to running coal ratio
Design coal is poor, so the high temperature corrosion of boiler water wall not can avoid, thermal-flame and sweep of gases water screen tube are any
Pattern, parameter, capacity boiler this corrosion can all occur.Since the height of water-cooling wall is generally in 6-80m, so palpus when maintenance
Full hall scaffold is taken, country's station boiler maintenance now is generally using artificial maintenance, and maintenance danger coefficient is high, the period is long, effect
Difference, price are high.Machine is for the trend that people is that boiler of power plant overhauls.
Since japanese steel pipe Zhu Shi commercial firm developed the first wheeled climbing robot of magnetism in 1988, wall-climbing device
People's industry is developed rapidly.Hitachi, Japan has developed one eight sufficient magnetic foot formula climbing robot, provides enough by magnetic
Adsorption capacity be adsorbed on wall surface, but since control is more complicated for robot footwork, kinematic dexterity is bad, and using electricity
Magnet provides suction, and accident power-off will cause security risk.
Domestic many R&D institutions have also carried out a large amount of research in terms of boiler climbing robot, it is previous research shows that
Wheel type mobile formula robot when driving, has comparable advantage in the landform of relatively flat, and movement velocity rapidly, steadily, is tied
Structure and control are also relatively simple, but on uneven ground when driving, energy consumption will greatly increase, the effect of wheel also by serious loss,
Mobile efficiency substantially reduces.In order to improve wheel to the adaptability of soft terrain and uneven ground, crawler-type mobile formula machine
People comes into being but mobility of the caterpillar type robot on uneven ground is still very poor, and fuselage shakes serious when driving.
However, since boiler inner wall operating condition is extremely complex, above-mentioned robot and other existing robots, in practice
It is unable to get application, boiler exam maintenance is caused to remain as manual work at present.
Utility model content
Structure is complicated, versatility is poor to solve present in existing climbing robot, and control is complicated, flexibility is strong,
The problems such as higher cost, the utility model provide a kind of flexible cable parallel drive robot for boiler exam maintenance, overcome
The flexible cable parallel drive robot load capacity of the barrier of the prior art, the utility model is strong, and movement flexibly, is driven by cable support
It is dynamic, it is as though walking upon flat ground in boiler, it can achieve people and the place that existing robot is unable to reach, complete job that requires special skills.
The purpose of this utility model is achieved in that
A kind of flexible cable parallel drive robot for boiler exam maintenance, robot are arranged in boiler and close to boilers
The furnace wall 29 of inner wall, boiler is equipped with flame-observing hole 30, and the robot includes robot body part, and robot body sets up separately
It is equipped at least one mechanical arm module, operational module 6 is carried in mechanical arm module front end, and the robot body part surrounding also connects
It is connected to the wirerope 22 of its walking of driving, 22 other end of wirerope passes through flame-observing hole 30 and is connected with the rope drive being arranged in outside boiler
Dynamic model block 16, rope drive module 16, mechanical arm module and operational module 6 are all connected with control cabinet；30 two sides of flame-observing hole are provided with
It is used to support the first pulley component 17 and second pulley component 18 of wirerope 22, first pulley component 17 and second pulley component
18 are located at outside boiler, in boiler and in same horizontal line.
In order to monitor the state of wirerope 22 in time, it is provided at least between the first pulley component 17 and flame-observing hole 30
One tension sensor 20, tension sensor 20 is three in Fig. 2, and wirerope 22 passes through tension sensor 20, tension sensor
20 connection control cabinets.
Double rolling key clutch is provided in the rope drive module 16.
The robot body part is additionally provided with vision module, and vision module connects control cabinet, and vision module includes solid
The workbench 11 being scheduled in robot is provided with camera 13, depth camera 14 and headlamp 15 on workbench 11, is also equipped with use
In the holder 12 of support camera 13.
The mechanical arm module includes the pedestal 1 for being mounted on robot body part, and the first steering engine 7 is installed on pedestal 1, the
One steering engine 7 connects turntable 2, and turntable 2 connects the second steering engine 8, and the second steering engine 8 connects large arm 3, and large arm 3 connects third steering engine 9, the
Arm 4 in the connection of three steering engines 9, middle arm 4 connect the 4th steering engine 10, and the 4th steering engine 10 connects forearm 5, and forearm 5 carries operational module 6.
The frame of the robot body part is multi-panel cube structure, each in the frame of multi-panel cube structure
Face is triangular in shape or polygon.
The rope drive module 16 is three groups, four groups, five groups, six groups, eight groups or eight groups or more, and is symmetrical arranged.
The control cabinet is set as one, two or four, and control cabinet includes electric loop, various switch/keys, ether
Net communication module, PLC and its I/O module, host computer and HMI, host computer are connect with PLC by Ethernet interface, are run in PLC
There is control program, PLC acquires the position signal and wirerope upper stress signal of machine human body part.
The first telescopic rod 21 placed vertically is provided between the first pulley component 17 and flame-observing hole 30, first is flexible
Horizontal supporting table 23 is fixedly mounted at the top of bar 21, one end of supporting table 23 is fixedly mounted with first pulley component 17, and the other end is fixedly mounted with fixing seat
24, fixed the second horizontal telescopic rod 25 of fixing seat 24,25 other end of the second telescopic rod passes through flame-observing hole 30 and is fixedly mounted with second pulley
Component 18.
Second telescopic rod 25 includes leading portion strut 2501, is socketed middle section strut 2502, middle section outside leading portion strut 2501
Back segment strut 2503 is socketed outside strut 2502, middle section strut 2502 and 2501 front end side of leading portion strut are equipped with screw 2504,
Screw 2504 holds out against the side wall of leading portion strut 2501 or leading portion strut 2501 to fix.
Compared with the existing technology, as follows the advantages of the utility model:
1, the robot of the utility model drives by cable support, and machine human body uses frame structure, effectively mitigates
The weight of robot itself, on frame settable multiple mechanical arms, each mechanical arm carry different operational modules, can be with
The directly maintenance after having detected to boiler water wall, instead of manual work, the connecting that works is good, does not have to frequently replacement Working mould
Block；
2, the utility model uses Wire driven robot form, and robot, in boiler, is arranged by wire rope suspensioning outside boiler
Several groups drive module, the length and speed of folding and unfolding and the folding and unfolding of control manipulation wirerope of the drive module through control cabinet, multiple groups
Drive module manipulates jointly, run robot can accurately according to scheduled track in boiler, to complete in boiler
Job task；
3, vision module is carried simultaneously on the frame of the utility model machine human body, boiler water wall can be taken
The abrasion of 0.5mm or so, visually observing before can replace completely, while result have trackability；
4, double rolling key clutch is arranged in elevator drive module in the utility model, it is ensured that in any unusual condition
Power-off or when failure, will not there is a situation where robots to fall off；
5, the utility model be arranged control cabinet, the location status of robot, the tension state of wirerope, detection data,
Image etc. can be shown on the host computer display interface of control cabinet, checked convenient for personnel and taken some countermeasures in time；
6, compared with wheeled, crawler type, sufficient formula mobile robot, the utility model revolutionizes absorption type or contact
Move mode, by rope traction realize robot accurate movement, can in boiler flexible motion, in boiler as carry out
Level land reaches the place that people is unable to reach, multivariant mechanical arm of arranging in pairs or groups, and can almost realize boiler internal all standing without dead
Angle, completes job that requires special skills, and application prospect is good.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the robot of the utility model.
Fig. 2 is the structural schematic diagram of the Wire driven robot mechanism of the utility model.
Fig. 3 is the top partial view diagram of Fig. 2.
Fig. 4 is the structural schematic diagram that the second telescopic rod is connect with second pulley component.
Wherein, 1 is pedestal；2 be turntable；3 be large arm；4 be middle arm；5 be forearm；6 be operational module；7 be the first steering engine；
8 be the second steering engine；9 be third steering engine；10 be the 4th steering engine；11 be workbench；12 be holder；13 be camera；14 be depth phase
Machine；15 be headlamp；16 be rope drive module；17 be first pulley component；18 be second pulley component；19 be sensor branch
Frame；20 be tension sensor；21 be the first telescopic rod；22 be wirerope；23 be supporting table；24 be fixing seat；25 be second to stretch
Contracting bar, 2501 be leading portion strut, and 2502 be middle section strut, and 2503 be back segment strut, and 2504 be screw, and 2505 be bolt；26 are
Boiler rigid mount；27 be elevator drive module；28 be to carry module；29 be furnace wall；30 be flame-observing hole.
Specific embodiment
As shown in Figure 1-3, a kind of flexible cable parallel drive robot for boiler exam maintenance, robot are arranged in boiler
Interior and close boiler inner wall, the furnace wall 29 of boiler are equipped with flame-observing hole 30, and the robot includes robot body part, machine
Personal body portion is provided at least one mechanical arm module, and mechanical arm module is four in Fig. 1, and work is carried in mechanical arm module front end
Make module 6, the robot body part surrounding is also connected with the wirerope 22 of its walking of driving, and 22 other end of wirerope passes through
Flame-observing hole 30 is connected with the rope drive module 16 being arranged in outside boiler, rope drive module 16, mechanical arm module and Working mould
Block 6 is all connected with control cabinet；30 two sides of flame-observing hole are provided with the first pulley component 17 and second pulley for being used to support wirerope 22
Component 18, first pulley component 17 and second pulley component 18 are located at outside boiler, in boiler and in same horizontal line.
The mechanical arm of above-mentioned mechanical arm module has multiple degrees of freedom, and the connection of mechanical arm module and operational module 6 is removable
Connection is unloaded, different operational modules 6 is conveniently replaceable, operational module 6 is boiler exam maintenance special module.When the multiple machinery of setting
When arm module, each mechanical arm front end can carry different operational modules 6, not have to frequently replacement operational module 6 thus
Type, after such robot has carried out the work of previous step, no replacement is required operational module 6 is directly carried by other machinery arm
Operational module 6 carry out next step work.Control cabinet can be set on boiler exterior rigid platfor on the lower or ground
On, it operates and manages convenient for personnel.Since flame-observing hole 30 is included for boiler, can be utilized by the utility model, in practical application
It can choose others according to specific group of number of driving and penetrate mode, as long as can guarantee that robot body part can be clever in boiler
Movement living.29 edge of furnace wall of boiler is equipped with optoelectronic switch, position limitation protection is used for, when climbing robot is in marginal position
When do with limit, it is ensured that climbing robot operate normally.
For the ease of the state of real-time monitoring wirerope 22, it is provided between the first pulley component 17 and flame-observing hole 30
At least one tension sensor 20, specific number is unlimited, is specifically chosen according to practical application, and tension sensor 20 is three in Fig. 2
A, wirerope 22 passes through tension sensor 20, and tension sensor 20 connects control cabinet, and such structure is convenient for grasp steel wire in time
The state of rope 22, convenient for the wirerope 22 more renewed in time.The wirerope 22 is preferably with high-intensitive anti-torsion wirerope.
In order to guarantee to power off in any unusual condition or when failure, will not there is a situation where robots to fall off, the rope
Double rolling key clutch is provided in rope drive module 16.Rope drive module 16 further includes elevator drive module 27, and elevator drives
Dynamic model block 27 mainly includes reel, servo motor, driver, sensor, retarder etc., to control the folding and unfolding of wirerope 22.
For the ease of real-time monitoring and record boiler inner wall operating condition, as shown in Figure 1, the robot body part is also set up
There is a vision module, vision module connects control cabinet, and vision module includes the workbench 11 being fixed in robot, on workbench 11
It is provided with camera 13, depth camera 14 and headlamp 15, is also equipped with the holder 12 for being used to support camera 13.Camera 13 can be real
Existing motion process video recording is taken pictures with triggering, the abrasion of boiler water wall 0.5mm or so can be taken, before can replace completely
Visually observe, while result have trackability.Headlamp 15 is LED energy-saving lamp, provides illumination for working region with person who happens to be on hand for an errand
The work of member control robot.
Preferably, as shown in Figure 1, the mechanical arm module includes the pedestal 1 for being mounted on robot body part, pedestal 1
The first steering engine 7 of upper installation, the first steering engine 7 connect turntable 2, and turntable 2 connects the second steering engine 8, and the second steering engine 8 connects large arm 3, large arm
3 connect third steering engines 9, arm 4 in the connection of third steering engine 9, and middle arm 4 connects the 4th steering engine 10, and the 4th steering engine 10 connects forearm 5, small
Arm 5 carries operational module 6.It is provided between forearm 5 and operational module 6 and carries module 28.Second steering engine 8 is for controlling large arm 3
Rotation angle and speed；Rotation angle and speed of the third steering engine 9 for arm 4 in controlling；4th steering engine 10 is small for controlling
The rotation angle and speed of arm 5.The mechanical arm module can be fixed on the frame of robot body part by pedestal 1
On, pedestal 1 not can rotate, and turntable 2, large arm 3, middle arm 4, forearm 5 are rotatable.Certainly, mechanical arm module is also possible to existing
Other mechanical arms that can be carried out work in technology, can also can be achieved to the prior art of other function, to be installed at this practical new
The function can be realized in the corresponding position of robot described in type.
Preferably, in order to mitigate robot itself weight, improve robot load capacity, the robot body part
Frame be multi-panel cube structure, in the frame of multi-panel cube structure, every one side is triangular in shape or polygon, Fig. 1 center
Frame is 20 face cube structures, and every is triangle on one side.The material of frame can select aluminium alloy, can also use other materials
Matter.
Further, the rope drive module 16 is three groups, four groups, five groups, six groups, eight groups or eight groups or more, and right
Claim setting.Due to being symmetrical arranged on the furnace wall 29 of boiler itself there are four flame-observing hole 30, the utility model is existing by this
Four flame-observing holes 30 rope drive module 16 is connect with robot, can according to circumstances increase in other practical applications and add deduct
The group number of few rope drive module 16 is more to adapt to actual condition.
Further, the control cabinet is set as one, two or four, to control four groups of rope drive modules 16, control
Cabinet processed includes electric loop, various switch/keys, ethernet communication module, PLC and its I/O module, host computer and HMI, upper
Machine is connect by Ethernet interface with PLC, the operations such as parameters and the progress start and stop of system can be arranged in HMI, and can
To carry out the displaying of image and detection data, operation has control program in PLC, and PLC acquires the position letter of machine human body part
Number and wirerope upper stress signal.
The position coordinates signal and stress signal that receive are analyzed and processed by PLC, analyze the position of weight node, are sat
Mark signal can be obtained the displacement of weight, and velocity and acceleration changes with time relationship, and four wirerope 22 further can be obtained
It changes with time relationship in the position in space.The position of robot, state, the state of wirerope, detection in the utility model
Data, image etc. can be shown on host computer display interface, check convenient for personnel and take some countermeasures in time.
For supporting steel-cable 22, in order to adapt to 30 height of flame-observing hole of different boilers, for the ease of adjusting robot
The distance between boiler inner wall, as shown in Fig. 2, being provided with vertical placement between the first pulley component 17 and flame-observing hole 30
The first telescopic rod 21, be fixedly mounted with horizontal supporting table 23 at the top of the first telescopic rod 21, one end of supporting table 23 is fixedly mounted with first pulley
Component 17, the other end are fixedly mounted with fixing seat 24, fixed the second horizontal telescopic rod 25 of fixing seat 24, and 25 other end of the second telescopic rod is worn
It crosses flame-observing hole 30 and is fixedly mounted with second pulley component 18.The middle part of supporting table 23 is equipped with sensor stand 19, and tension sensor 20 is solid
On sensor stand 19.The central point of first pulley component 17, sensor stand 19 and fixing seat 24 is preferably straight at one
On line.
First telescopic rod 21 adjusts height in the vertical direction, the second telescopic rod 25 adjustment length in the horizontal direction, on
It is identical as the structure of the second telescopic rod 25 to state the first telescopic rod 21, naturally it is also possible to it is different, it is able to achieve flexible.Such as Fig. 2 institute
Show, wherein rope drive module 16 and the first telescopic rod 21 can be fixed on boiler rigid mount 26, can also be fixed on it
In its support platform, fixed position is specifically chosen with live industrial and mineral.The boiler rigid mount 26 can be boiler and carry, and be also possible to
In addition it installs additional and is welded on boiler.
Preferably, as shown in Figure 3, Figure 4, second telescopic rod 25 includes leading portion strut 2501, outside leading portion strut 2501
It is socketed middle section strut 2502, back segment strut 2503 is socketed outside middle section strut 2502,2501 front end of leading portion strut passes through bolt 2505
It is packed on second pulley component 18, middle section strut 2502 and 2501 front end side of leading portion strut are equipped with screw 2504, screw
2504 hold out against the side wall of leading portion strut 2501 or leading portion strut 2501 to fix.
When utility model works, on position signal and wirerope 22 of the PLC according to collected robot body part
The data such as tension force signal issue control instruction to servo-driver, control the rotation forward or backwards of servo motor, then via
Retarder deceleration is passed in elevator drive module 27, and movement velocity and the side of robot body part are controlled by wirerope 22
To one or two or four control cabinets can be set in the embodiment of Fig. 1 to control four groups of rope drive modules 16, four groups of ropes
Rope drive module 16 is worked in coordination, and the speed and length of folding and unfolding wirerope 22 are controlled, and the track allowed the robot to as required is moved
It is dynamic.After reaching job site, mechanical arm module is controlled by control cabinet and is worked.
Above-described is only preferred embodiments of the present invention, it is noted that for those skilled in the art
For, under the premise of not departing from the utility model general idea, several changes and improvements can also be made, these also should be considered as
The protection scope of the utility model, these all will not influence the effect and patent practicability of the utility model implementation.
Claims (10)
1. a kind of flexible cable parallel drive robot for boiler exam maintenance, robot is arranged in boiler and in boiler
The furnace wall (29) of wall, boiler is equipped with flame-observing hole (30), it is characterised in that: the robot includes robot body part, machine
Device person body portion is provided at least one mechanical arm module, and operational module (6) are carried in mechanical arm module front end, the robot
Body part surrounding is also connected with the wirerope (22) of its walking of driving, and wirerope (22) other end is connected across flame-observing hole (30)
There is the rope drive module (16) being arranged in outside boiler, rope drive module (16), mechanical arm module and operational module (6) connect
Connect control cabinet；Flame-observing hole (30) two sides are provided with the first pulley component (17) and second pulley group for being used to support wirerope (22)
Part (18), first pulley component (17) and second pulley component (18) are located at outside boiler, in boiler and in same level
On line.
2. the flexible cable parallel drive robot for boiler exam maintenance as described in claim 1, it is characterised in that: described the
At least one tension sensor (20) is provided between one pulley assembly (17) and flame-observing hole (30), wirerope (22) is through overtension
Sensor (20), tension sensor (20) connect control cabinet.
3. the flexible cable parallel drive robot for boiler exam maintenance as described in claim 1, it is characterised in that: the rope
Rope drive module is provided with double rolling key clutch in (16).
4. the flexible cable parallel drive robot for boiler exam maintenance as described in claim 1, it is characterised in that: the machine
Device person body portion is additionally provided with vision module, and vision module connects control cabinet, and vision module includes being fixed in robot
Workbench (11) is provided with camera (13), depth camera (14) and headlamp (15) on workbench (11), is also equipped with for branch
Support the holder (12) of camera (13).
5. the flexible cable parallel drive robot for boiler exam maintenance as described in claim 1, it is characterised in that: the machine
Tool arm module includes the pedestal (1) for being mounted on robot body part, installs the first steering engine (7), the first steering engine on pedestal (1)
(7) turntable (2) are connected, turntable (2) connects the second steering engine (8), and the second steering engine (8) connects large arm (3), and large arm (3) connects third
Steering engine (9), arm (4) in third steering engine (9) connection, middle arm (4) connect the 4th steering engine (10), and the 4th steering engine (10) connects forearm
(5), forearm (5) carries operational module (6).
6. the flexible cable parallel drive robot for boiler exam maintenance as described in claim 1, it is characterised in that: the machine
The frame of device person body portion is multi-panel cube structure, and in the frame of multi-panel cube structure, every one side is triangular in shape or more
Side shape.
7. the flexible cable parallel drive robot for boiler exam maintenance as described in claim 1, it is characterised in that: the rope
Rope drive module (16) is three groups, four groups, five groups, six groups, eight groups or eight groups or more, and is symmetrical arranged.
8. the flexible cable parallel drive robot for boiler exam maintenance as described in claim 1, it is characterised in that: the control
Cabinet processed is set as one, two or four, and control cabinet includes electric loop, various switch/keys, ethernet communication module, PLC
And its I/O module, host computer and HMI, host computer are connect by Ethernet interface with PLC, operation has control program, PLC in PLC
Acquire the position signal and wirerope upper stress signal of machine human body part.
9. the flexible cable parallel drive robot for boiler exam maintenance as described in claim 1, it is characterised in that: described the
The first telescopic rod (21) placed vertically, the first telescopic rod (21) top are provided between one pulley assembly (17) and flame-observing hole (30)
Portion is fixedly mounted with horizontal supporting table (23), and one end of supporting table (23) is fixedly mounted with first pulley component (17), and the other end is fixedly mounted with fixing seat
(24), fixed horizontal the second telescopic rod (25) of fixing seat (24), the second telescopic rod (25) other end are solid across flame-observing hole (30)
It fills second pulley component (18).
10. the flexible cable parallel drive robot for boiler exam maintenance as claimed in claim 9, it is characterised in that: described
Second telescopic rod (25) includes leading portion strut (2501), and leading portion strut (2501) is socketed middle section strut (2502), middle section strut outside
(2502) back segment strut (2503) are socketed outside, middle section strut (2502) and leading portion strut (2501) front end side are equipped with screw
(2504), screw (2504) holds out against the side wall of leading portion strut (2501) or leading portion strut (2501) to fix.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821603894.3U CN208744825U (en) | 2018-09-29 | 2018-09-29 | A kind of flexible cable parallel drive robot for boiler exam maintenance |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821603894.3U CN208744825U (en) | 2018-09-29 | 2018-09-29 | A kind of flexible cable parallel drive robot for boiler exam maintenance |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110320876A (en) * | 2019-07-18 | 2019-10-11 | 北京壬工智能科技有限公司 | A kind of coal-burning boiler examination and repair system and method |
| CN110375646A (en) * | 2019-07-18 | 2019-10-25 | 北京壬工智能科技有限公司 | The system and method that a kind of pair of material is made an inventory |
| CN110421550A (en) * | 2019-08-06 | 2019-11-08 | 浙江长兴初日环保机械设备有限公司 | A kind of movable type mechanical hand |
| CN110962108A (en) * | 2018-09-29 | 2020-04-07 | 洛阳清展智能科技有限公司 | Flexible cable parallel driving robot for boiler detection and maintenance |
-
2018
- 2018-09-29 CN CN201821603894.3U patent/CN208744825U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110962108A (en) * | 2018-09-29 | 2020-04-07 | 洛阳清展智能科技有限公司 | Flexible cable parallel driving robot for boiler detection and maintenance |
| CN110320876A (en) * | 2019-07-18 | 2019-10-11 | 北京壬工智能科技有限公司 | A kind of coal-burning boiler examination and repair system and method |
| CN110375646A (en) * | 2019-07-18 | 2019-10-25 | 北京壬工智能科技有限公司 | The system and method that a kind of pair of material is made an inventory |
| CN110421550A (en) * | 2019-08-06 | 2019-11-08 | 浙江长兴初日环保机械设备有限公司 | A kind of movable type mechanical hand |
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