CN214189851U - Water-cooled wall intelligent modular maintenance platform based on wall-climbing robot - Google Patents
Water-cooled wall intelligent modular maintenance platform based on wall-climbing robot Download PDFInfo
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- CN214189851U CN214189851U CN202022597595.7U CN202022597595U CN214189851U CN 214189851 U CN214189851 U CN 214189851U CN 202022597595 U CN202022597595 U CN 202022597595U CN 214189851 U CN214189851 U CN 214189851U
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Abstract
The utility model relates to a water-cooling wall intelligent modularization maintenance platform based on wall climbing robot, including magnetism type crawler-type wall climbing robot, the crawler-type wall climbing robot is provided with a three-axis mobile platform, the three-axis mobile platform can be provided with, a high-pressure water cleaning module, the high-pressure water cleaning module is mainly used for carrying out high-pressure water cleaning on the surface of the water-cooling wall to remove part of coking blocks; or the nondestructive detection module is used for carrying out remote visual automatic detection on the thickness of the water-cooled wall by adopting a double-probe electromagnetic ultrasonic technology, so that the wall thickness of the two water-cooled wall pipelines is detected; or the automatic polishing module is mainly used for carrying out remote visual automatic polishing on the surface of the water cooled wall needing to be welded and repaired; or the automatic welding module is used for carrying out remote visual automatic surfacing repair on the surface of the water cooled wall needing to be welded and repaired. The intelligent modular water-cooled wall overhauling solution based on the wall climbing robot is provided.
Description
Technical Field
The utility model relates to a thermal power technical field, concretely relates to water-cooling wall intelligent object ization in thermal power station overhauls platform.
Background
In the field of thermal power stations, a boiler generally adopts a membrane type water-cooled wall structure (4 surfaces in the height direction, the height of a single surface exceeds 50 meters, the width of the single surface exceeds 30 meters, and the boiler is formed by welding water-cooled wall pipelines and fins), the water in the water-cooled wall is heated by utilizing the combustion of pulverized coal, and a steam turbine is pushed to rotate by generated high-temperature high-pressure steam, so that a generator is pushed to generate electric energy. In the running process of the unit, the surface of the water-cooled wall is affected by high-temperature flue gas corrosion, surface scaling (slagging) and the like, so that the thickness of the water-cooled wall is reduced or the surface of the water-cooled wall is cracked, and pipe explosion occurs in severe cases, so that the unit is abnormally shut down, and the safe running of the unit is seriously affected. The water wall is maintained mainly by the working procedures of removing surface coking blocks, nondestructive testing, tube replacement, polishing, welding repair and the like.
The nondestructive detection of the water wall pipeline generally adopts a manual ultrasonic thickness measurement method, a manual electromagnetic ultrasonic method or a ray inspection method, a scaffold platform or a hanging basket needs to be built in a boiler, and due to the fact that the number of the water wall pipelines is large, complete detection cannot be achieved only by adopting a manual mode, and only local detection can be conducted on a high-risk area. With the development of the wall climbing robot technology, the remotely controllable thickness measuring equipment based on the wall climbing robot is applied to the aspect of water wall detection.
If the water wall pipeline is seriously thinned or cracks appear on the surface of the water wall pipeline, a manual welding repair mode is generally adopted to partially cut the damaged area so as to avoid tube explosion in the running process of the unit. Not only consumes a large amount of manpower and material resources, but also has large difficulty in tube replacement and welding and slow progress.
The prior art has the following defects in the water wall overhaul:
(1) the detection and maintenance work of the membrane type water-cooled wall of the thermal power station is complex, although the remotely controllable thickness measuring equipment based on the wall climbing robot is locally applied to the detection of the water-cooled wall; however, at present, a whole set of intelligent modularized overhaul solution for the water wall based on the wall climbing robot does not exist, and the remote visual full-flow detection and maintenance of the water wall are really realized;
(2) the maintenance of the water wall still needs to build a scaffold platform or a hanging basket, so that the workload is large and the maintenance time is long; the high-altitude maintenance platform and the scaffold have high risks, and serious consequences are caused to parties and companies once high-altitude falling occurs;
(3) the coke blocks on the surface of the water-cooled wall are generally removed by adopting a mode of building a scaffold platform or a hanging basket and manually hammering the surface of the water-cooled wall, so that the workload is high, only partial removal can be realized, and the heat exchange efficiency of the unit is reduced;
(4) the detection of the wall thickness and the surface condition of the water-cooled wall still mainly adopts manual spot inspection, meanwhile, the water-cooled wall detection robot has low working efficiency, can only realize the thickness measurement of a single pipe when walking every time, cannot realize comprehensive or efficient nondestructive detection of the water-cooled wall, is difficult to systematically inspect defects, has the risk of missed inspection, increases the possibility of pipe explosion and seriously influences the safe operation of a unit;
(5) the water wall welding repair is carried out in a manual local tube replacement mode, firstly, tubes are cut, and then welding of new tubes and old tubes is completed in a manual welding mode; not only consumes a large amount of manpower and material resources, but also has large difficulty in tube replacement and welding and slow progress.
SUMMERY OF THE UTILITY MODEL
For solving the technical problem, the utility model provides a complete set of water-cooling wall intelligent object ization based on wall climbing robot overhauls solution, really realizes water-cooling wall full flow, long-range visual intellectual detection system and maintenance, including the automatic high pressure water cleaning of water-cooling wall removes the piece of coking, detects based on electromagnetic ultrasonic technique's water-cooling wall thickness, detects based on the water-cooling wall surface condition of vision capture technique, the impaired position of water-cooling wall is polished automatically and automatic weld is repaiied. The utility model solves the problem of setting up a scaffold or a hanging basket for manual detection and maintenance in the traditional water wall maintenance, shortens the construction period, reduces the cost, can realize systematic inspection and targeted welding repair of the water wall, and improves the safety factor of the unit; the problem of present thickness measurement equipment based on wall climbing robot work efficiency low, function singleness is solved, accomplish the maintenance of water-cooling wall full flow really.
The technical scheme of the utility model as follows:
the utility model provides a water-cooling wall intelligent module overhauls platform based on wall climbing robot which characterized in that:
comprises a magnetic-absorption crawler-type wall-climbing robot (100), wherein a three-axis moving platform (1) is arranged on the magnetic-absorption crawler-type wall-climbing robot (100), the three-axis moving platform (1) can be arranged,
the high-pressure water cleaning module (2) is mainly used for cleaning the surface of the water wall with high-pressure water to remove part of coking blocks;
or the like, or, alternatively,
the nondestructive testing module (3) is used for carrying out remote visual automatic detection on the thickness of the water wall by adopting a double-probe electromagnetic ultrasonic technology, so that the wall thickness of the two water wall pipelines can be detected;
or the like, or, alternatively,
the automatic polishing module (4), the automatic polishing module (4) is mainly used for carrying out remote visual automatic polishing on the surface of the water cooled wall needing to be welded and repaired;
or the like, or, alternatively,
the automatic welding module (5), the automatic welding module (5) is used for carrying out remote visual automatic surfacing repair on the surface of the water wall needing welding repair.
Furthermore, the three-axis moving platform (1) is provided with a driving mechanism in the three-dimensional direction, and the driving mechanism can move up and down, transversely and longitudinally.
Further, the three-axis mobile platform (1) comprises a bracket (11) which is horizontally arranged, a transverse motor (12) is horizontally arranged at the front end of the bracket (11), a transverse moving beam (13) is connected on the transverse motor (12) in a transmission way, the transverse motor (12) and the transverse moving beam (13) realize the transverse movement of the three-axis moving platform, the surface of the transverse moving beam (13) is slidably provided with a longitudinal moving beam (15), the tail part of the longitudinal moving beam (15) is electrically connected with a longitudinal motor (14), the longitudinal motor (14) and the longitudinal moving beam (15) realize the longitudinal movement of the three-axis moving platform, the front end of the longitudinal movable beam (15) is connected with an up-down movable beam (17) in a sliding way, the top of the upper and lower moving beams (17) is electrically connected with an upper and lower motor (16), the up-down motor (16) and the up-down moving beam (17) realize the up-down movement of the three-axis moving platform.
Furthermore, the whole support (11) is fixed on the body of the magnetic-type crawler-type wall-climbing robot (100) through a fixing bolt (18). Borrow by above-mentioned scheme, the utility model discloses at least, have following advantage:
furthermore, the three-axis moving platform further comprises a control system, and the control system is used for controlling the operation of the transverse motor (12), the longitudinal motor (14) and the up-down motor (16) in the three-axis moving platform (1).
1. A whole set of intelligent modularized maintenance solution for the water wall based on the wall climbing robot is provided, and the full-flow, remote visual and intelligent detection and maintenance of the water wall are really realized;
2. the wall climbing robot has multiple purposes, a control system is consistent with an operation logic, and only different functional modules need to be carried by the wall climbing robot according to actual working requirements; the utilization rate of equipment is improved, purchasing and operation of various special robots are avoided, the operation difficulty of the equipment is reduced, and the use intention of the equipment is increased;
3. the remote visual high-pressure water cleaning can realize the removal of large-area coking blocks on the surface of the water-cooled wall, and the heat conversion efficiency of the unit is improved; the scaffold or the hanging basket is avoided being erected, and the coking block is low in high-pressure water cleaning cost, low in risk and short in construction period.
4. The wall thickness and surface defect condition of the water-cooled wall can be systematically and nondestructively inspected in a remote visual mode, the running condition of the water-cooled wall can be comprehensively known, and the probability of tube explosion is reduced; avoiding building a scaffold or a hanging basket, and having low nondestructive inspection cost, low risk and short construction period.
5. The automatic polishing work of the surface of the damaged water wall pipeline is realized in a remote visual mode; the scaffold or the hanging basket is avoided from being erected, the polishing cost is low, the risk is low, and the construction period is short;
6. the automatic surfacing repair of the damaged water-cooled wall is realized in a remote visual mode, local pipe cutting replacement is not needed, and pre-welding preheating and post-welding heat treatment required by butt welding are avoided; meanwhile, a scaffold or a hanging basket is avoided being erected, and the welding repair cost is low, the risk is low, and the construction period is short.
The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate a certain embodiment of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view of the connection structure of the present invention;
FIG. 2 is a schematic structural diagram of the present invention connecting the high pressure water cleaning modules;
FIG. 3 is a schematic structural diagram of the connecting nondestructive testing module of the present invention;
FIG. 4 is a schematic structural view of the automatic polishing module according to the present invention;
FIG. 5 is a schematic structural diagram of the automatic welding module according to the present invention;
fig. 6 is a schematic structural diagram of the three-axis mobile platform of the present invention;
in the figure:
100-magnetic-type crawler-type wall-climbing robot;
1-a three-axis mobile platform; 11. a support; 12. a transverse motor; 13. a transverse moving beam; 14. a longitudinal motor; 15. a longitudinal moving beam; 16. an upper motor and a lower motor; 17. moving the beam up and down; 18. fixing the bolt;
2-a high-pressure water cleaning module; 3-a nondestructive testing module; 4-automatic polishing module; 5-automatic welding module;
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
Referring to fig. 1-6, the utility model discloses a water-cooling wall intelligent modularization maintenance platform based on wall climbing robot which preferred embodiment its characterized in that:
comprises a magnetic attraction type crawler-type wall climbing robot 100, wherein a three-axis moving platform 1 is arranged on the magnetic attraction type crawler-type wall climbing robot 100, the three-axis moving platform 1 can be arranged,
the high-pressure water cleaning module 2 is mainly used for performing high-pressure water cleaning on the surface of the water-cooled wall to remove part of coking blocks;
the specific working principle is as follows:
according to the working requirement, the water-cooled wall high-pressure water cleaning module is assembled and integrally installed on the wall climbing robot through the three-axis moving platform. And the wall climbing robot and the water cooling wall high-pressure water cleaning module are subjected to function test, the conditions of the wall climbing robot and the water cooling wall high-pressure water cleaning module are checked, and normal operation is guaranteed. And adjusting the three-axis moving platform to the highest height so as to prevent the collision between the high-pressure water gun and the water wall when the wall climbing robot walks.
Transfer equipment to water-cooling wall manhole will climb inside wall robot and the high pressure water cleaning module carries furnace respectively, the back that finishes of the equipment, adsorb the robot to on the water-cooling wall to the safety rope of carry prevents that abnormal equipment from falling. The wall climbing robot is controlled to walk to a part needing high-pressure water cleaning by observing the environment camera of the wall climbing robot and adjusting the remote controller.
And starting remote visual water-cooled wall surface high-pressure water cleaning operation through a remote controller. And after the work is finished, the wall-climbing robot returns.
Or, the nondestructive detection module 3 is used for performing remote visual automatic detection on the thickness of the water wall by adopting a double-probe electromagnetic ultrasonic technology, so that the wall thickness of the two water wall pipelines is detected;
the specific working principle is as follows: according to the working requirement and the working requirement, all modules of the water-cooled wall nondestructive testing are assembled and integrally installed on the wall climbing robot through the three-axis moving platform. And performing function test on the wall climbing robot and the water wall nondestructive testing module, checking the conditions of the wall climbing robot and the water wall nondestructive testing module, and ensuring normal operation. And adjusting the three-axis moving platform to the highest height so as to prevent the collision between the thickness measuring probe and the water wall when the wall climbing robot walks.
Transfer equipment to water-cooling wall manhole will climb inside wall robot and the nondestructive test module carries furnace respectively, the back that finishes of the equipment, adsorb the robot to the water-cooling wall on to carry the safety rope, prevent that abnormal equipment from falling. The wall-climbing robot is controlled to walk to a part needing nondestructive testing by observing the self-contained environment camera of the wall-climbing robot and adjusting a remote controller.
And starting remote visual nondestructive detection operation of the water wall through a remote controller. In the whole detection process, acquiring the wall thickness data of the pipeline in real time, capturing the surface condition of the pipeline and the corresponding position of the pipeline; meanwhile, a threshold value is set in the system, and position recording and marking operations are carried out on the defective part of the wall thickness reduction or the surface. And after the work is finished, the wall-climbing robot returns.
Or the automatic polishing module 4 is mainly used for carrying out remote visual automatic polishing on the surface of the water cooled wall needing to be welded and repaired;
the specific working principle is as follows: according to the working requirement, the modules for automatically polishing the water-cooled wall are assembled and integrally installed on the wall-climbing robot through the three-axis moving platform. And the wall-climbing robot and the automatic water-cooled wall polishing module are subjected to functional test, the conditions of the wall-climbing robot and the automatic water-cooled wall polishing module are checked, and normal operation is guaranteed. And adjusting the three-axis moving platform to the highest height so as to prevent the grinding head and the like from colliding with the water wall when the wall climbing robot walks.
Transfer equipment to water-cooling wall manhole will climb inside wall robot and the automatic module of polishing, carry furnace respectively, the back that finishes of the equipment, adsorb the robot to the water-cooling wall on to the safety rope of carry prevents that abnormal equipment from falling. The wall-climbing robot is controlled to walk to a position needing automatic polishing by observing the environment camera of the wall-climbing robot and adjusting the remote controller.
And starting remote visual automatic polishing operation through a remote controller. And after the work is finished, the wall-climbing robot returns.
Or the automatic welding module 5 is used for carrying out remote visual automatic surfacing repair on the surface of the water cooled wall needing welding repair.
According to the working requirement, the modules for automatically polishing the water-cooled wall are assembled and integrally installed on the wall-climbing robot through the three-axis moving platform. And the wall-climbing robot and the automatic water-cooled wall polishing module are subjected to functional test, the conditions of the wall-climbing robot and the automatic water-cooled wall polishing module are checked, and normal operation is guaranteed. And adjusting the three-axis moving platform to the highest height so as to prevent the grinding head and the like from colliding with the water wall when the wall climbing robot walks.
Transfer equipment to water-cooling wall manhole will climb inside wall robot and the automatic module of polishing, carry furnace respectively, the back that finishes of the equipment, adsorb the robot to the water-cooling wall on to the safety rope of carry prevents that abnormal equipment from falling. The wall-climbing robot is controlled to walk to a position needing automatic polishing by observing the environment camera of the wall-climbing robot and adjusting the remote controller.
And starting remote visual automatic polishing operation through a remote controller. And after the work is finished, the wall-climbing robot returns.
The three-axis mobile platform 1 is provided with a three-dimensional driving mechanism, which can realize up-and-down, transverse and longitudinal movement.
The three-axis moving platform 1 includes a horizontally disposed support 11, a horizontal motor 12 is horizontally installed at the front end of the support 11, a horizontal moving beam 13 is connected to the horizontal motor 12 in a transmission manner, the horizontal motor 12 and the horizontal moving beam 13 realize the horizontal movement of the three-axis moving platform, a longitudinal moving beam 15 is slidably installed on the surface of the horizontal moving beam 13, a longitudinal motor 14 is electrically connected to the tail of the longitudinal moving beam 15, the longitudinal motor 14 and the longitudinal moving beam 15 realize the longitudinal movement of the three-axis moving platform, an upper moving beam 17 and a lower moving beam 17 are slidably connected to the front end of the longitudinal moving beam 15, an upper motor 16 and a lower motor 16 are electrically connected to the top of the upper moving beam 17 and the lower moving beam 17 realize the up-down movement of the three-axis moving platform.
The whole of the support 11 is fixed to the body of the magnetic crawler type wall-climbing robot 100 by the fixing bolt 18.
-further comprising a control system for controlling the operation of the transverse motors 12, the longitudinal motors 14, the up-down motors 16 of the three-axis mobile platform 1
The working principle of the utility model is as follows:
and the high-pressure water cleaning module is assembled with the three-axis mobile platform, then is carried on the wall climbing robot, walks on the surface of the water cooled wall, performs high-pressure water cleaning on the surface of the water cooled wall to remove part of coke blocks, and returns after the cleaning work is finished.
The nondestructive testing module is assembled with the three-axis mobile platform, then the assembly is carried on a wall-climbing robot, the assembly is carried on the surface of the water-cooled wall, the wall thickness and the surface condition of the water-cooled wall are tested, the damaged part is marked and the position is recorded, and the wall-climbing robot returns after the comprehensive inspection of the water-cooled wall is realized.
If the water-cooled wall pipeline is seriously thinned or cracks appear on the surface of the water-cooled wall pipeline, the automatic water-cooled wall polishing module is assembled with the three-axis mobile platform and then carried on the wall-climbing robot to reach a specified position, the damaged area is remotely and visually and automatically polished, oxide skin, coke lumps or rust and the like are removed, the exposed metallic luster meets the welding condition, and the wall-climbing robot returns after the automatic polishing is finished. And then, assembling the automatic water-cooled wall welding module with the three-axis mobile platform, then carrying the assembly on a wall-climbing robot, and carrying out remote visual automatic GTAW surfacing repair on the damaged area when the assembly reaches a specified position.
Compared with the prior art, the utility model have following advantage and effect:
1. a whole set of intelligent modularized maintenance solution for the water wall based on the wall climbing robot is provided, and the full-flow, remote visual and intelligent detection and maintenance of the water wall are really realized;
2. the wall climbing robot has multiple purposes, a control system is consistent with an operation logic, and only different functional modules need to be carried by the wall climbing robot according to actual working requirements; the utilization rate of equipment is improved, purchasing and operation of various special robots are avoided, the operation difficulty of the equipment is reduced, and the use intention of the equipment is increased;
3. the remote visual high-pressure water cleaning can realize the removal of large-area coking blocks on the surface of the water-cooled wall, and the heat conversion efficiency of the unit is improved; the scaffold or the hanging basket is avoided being erected, and the coking block is low in high-pressure water cleaning cost, low in risk and short in construction period.
4. The wall thickness and surface defect condition of the water-cooled wall can be systematically and nondestructively inspected in a remote visual mode, the running condition of the water-cooled wall can be comprehensively known, and the probability of tube explosion is reduced; avoiding building a scaffold or a hanging basket, and having low nondestructive inspection cost, low risk and short construction period.
5. The automatic polishing work of the surface of the damaged water wall pipeline is realized in a remote visual mode; the scaffold or the hanging basket is avoided from being erected, the polishing cost is low, the risk is low, and the construction period is short;
6. the automatic surfacing repair of the damaged water-cooled wall is realized in a remote visual mode, local pipe cutting replacement is not needed, and pre-welding preheating and post-welding heat treatment required by butt welding are avoided; meanwhile, a scaffold or a hanging basket is avoided being erected, and the welding repair cost is low, the risk is low, and the construction period is short.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (5)
1. The utility model provides a water-cooling wall intelligent module overhauls platform based on wall climbing robot which characterized in that:
comprises a magnetic-absorption crawler-type wall-climbing robot (100), wherein a three-axis moving platform (1) is arranged on the magnetic-absorption crawler-type wall-climbing robot (100), the three-axis moving platform (1) can be arranged,
the high-pressure water cleaning module (2) is mainly used for cleaning the surface of the water wall with high-pressure water to remove part of coking blocks;
or the like, or, alternatively,
the nondestructive testing module (3) is used for carrying out remote visual automatic detection on the thickness of the water wall by adopting a double-probe electromagnetic ultrasonic technology, so that the wall thickness of the two water wall pipelines can be detected;
or the like, or, alternatively,
the automatic polishing module (4), the automatic polishing module (4) is mainly used for carrying out remote visual automatic polishing on the surface of the water cooled wall needing to be welded and repaired;
or the like, or, alternatively,
the automatic welding module (5), the automatic welding module (5) is used for carrying out remote visual automatic surfacing repair on the surface of the water wall needing welding repair.
2. The intelligent modular water-cooled wall overhauling platform based on the wall climbing robot as claimed in claim 1, wherein: the three-axis moving platform (1) is provided with a driving mechanism in the three-dimensional direction, and the driving mechanism can move up and down, transversely and longitudinally.
3. The intelligent modular water-cooled wall overhauling platform based on the wall climbing robot as claimed in claim 2, wherein:
the three-axis mobile platform (1) comprises a bracket (11) which is horizontally arranged, a transverse motor (12) is horizontally arranged at the front end of the bracket (11), the transverse motor (12) is in transmission connection with a transverse moving beam (13), the transverse motor (12) and the transverse moving beam (13) realize the transverse movement of the three-axis moving platform, the surface of the transverse moving beam (13) is slidably provided with a longitudinal moving beam (15), the tail part of the longitudinal moving beam (15) is electrically connected with a longitudinal motor (14), the longitudinal motor (14) and the longitudinal moving beam (15) realize the longitudinal movement of the three-axis moving platform, the front end of the longitudinal movable beam (15) is connected with an up-down movable beam (17) in a sliding way, the top of the upper and lower moving beams (17) is electrically connected with an upper and lower motor (16), the up-down motor (16) and the up-down moving beam (17) realize the up-down movement of the three-axis moving platform.
4. The intelligent modular water-cooled wall overhauling platform based on the wall climbing robot as claimed in claim 3, wherein: the support (11) is integrally fixed on a body of the magnetic-type crawler-type wall-climbing robot (100) through a fixing bolt (18).
5. The intelligent modular water-cooled wall overhauling platform based on the wall climbing robot as claimed in claim 3, wherein: the three-axis moving platform is characterized by further comprising a control system, wherein the control system is used for controlling the operation of a transverse motor (12), a longitudinal motor (14), an upper motor (16) and a lower motor (16) in the three-axis moving platform (1).
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114083554A (en) * | 2022-01-10 | 2022-02-25 | 北京壬工智能科技有限公司 | Intelligent robot system and method for coal-fired boiler inspection and maintenance |
| CN114296381A (en) * | 2022-01-06 | 2022-04-08 | 同济大学 | Control system of wall-climbing robot for water cooled wall |
| CN117600624A (en) * | 2024-01-18 | 2024-02-27 | 南昌工程学院 | Welding robot system special for diaphragm wall and diaphragm wall welding method |
-
2020
- 2020-11-11 CN CN202022597595.7U patent/CN214189851U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114296381A (en) * | 2022-01-06 | 2022-04-08 | 同济大学 | Control system of wall-climbing robot for water cooled wall |
| CN114083554A (en) * | 2022-01-10 | 2022-02-25 | 北京壬工智能科技有限公司 | Intelligent robot system and method for coal-fired boiler inspection and maintenance |
| CN114083554B (en) * | 2022-01-10 | 2022-04-19 | 北京壬工智能科技有限公司 | Intelligent robot system and method for coal-fired boiler inspection and maintenance |
| CN117600624A (en) * | 2024-01-18 | 2024-02-27 | 南昌工程学院 | Welding robot system special for diaphragm wall and diaphragm wall welding method |
| CN117600624B (en) * | 2024-01-18 | 2024-03-29 | 南昌工程学院 | Welding robot system special for diaphragm wall and diaphragm wall welding method |
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