CN111572665A - Wall climbing robot for detecting and maintaining water cooled wall of power plant boiler - Google Patents
Wall climbing robot for detecting and maintaining water cooled wall of power plant boiler Download PDFInfo
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- CN111572665A CN111572665A CN202010480425.2A CN202010480425A CN111572665A CN 111572665 A CN111572665 A CN 111572665A CN 202010480425 A CN202010480425 A CN 202010480425A CN 111572665 A CN111572665 A CN 111572665A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/02—Component parts or details of steam boilers applicable to more than one kind or type of steam boiler
- F22B37/10—Water tubes; Accessories therefor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
- G01N27/83—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields
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Abstract
The invention discloses a wall climbing robot for detecting and maintaining a water cooling wall of a power plant boiler, which comprises a shell, wherein two traveling mechanisms are symmetrically arranged on the outer side of the shell, two air inlet cavities are symmetrically arranged on the inner side of the shell, a device cavity is also arranged inside the shell, a reciprocating mechanism for the device cavity is arranged between the device cavity and the two air inlet cavities, air vents communicated with the air inlet cavities are arranged on two sides of the shell, electromagnetic valves are arranged inside the air vents, a transmission mechanism for indirectly driving the reciprocating mechanism to operate is arranged inside the device cavity, an upper mounting plate and a lower mounting plate are symmetrically arranged on the outer side of the shell, the upper mounting plate and the lower mounting plate are fixedly connected with the shell, and a magnetic flux leakage detector is fixedly connected to the upper side of the upper mounting plate. The water cooling pipeline device is reasonable in structural design, and the water cooling pipelines with different inner diameters can be adjusted through the travelling wheels, so that the applicability of the device is improved, and the detection, maintenance and treatment of the pipelines are facilitated.
Description
Technical Field
The invention relates to the technical field of wall climbing robots for detection and maintenance, in particular to a wall climbing robot for detection and maintenance of a boiler water wall in a power plant.
Background
Utility boilers, also known as power plant boilers, refer to medium and large boilers in power plants that provide steam to turbines in a specified amount and quality. One of the main thermal equipment of a thermal power plant. It is usually matched with a turbo-generator set with a certain capacity, mainly used for generating electricity, but also can be used for supplying heat to the outside in some special occasions. Utility boilers mainly have two types: pulverized coal furnaces and circulating fluidized bed boilers. These two types of boilers are the main types used in power stations today. The biggest difference between the fluidized bed furnace and the pulverized coal furnace is the state of the fuel, i.e. liquid and pulverized coal.
In the boiler, the pulverized coal releases heat after combustion, and the heat is transferred to a medium in a pipe through a water wall pipe so as to be converted into superheated steam to drive a steam turbine to generate power. Because the operating coal type is poorer than the designed coal type, the high-temperature corrosion of the water-cooled wall of the boiler cannot be avoided, the high-temperature flame and the flue gas scour the water-cooled wall pipe, and the corrosion can occur to boilers of any type, parameter and capacity.
Among the prior art, be applied to the maintenance robot of power plant's boiler water-cooling wall often when using, can only detect the processing to the pipeline of a specification size, make things convenient for the maintenance of pipeline, then have the limitation like this, can't adjust according to the water-cooling pipeline of different internal diameters size, the detection maintenance of inconvenient pipeline is handled, has reduced the suitability of device.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a wall climbing robot for detecting and maintaining a water cooling wall of a power plant boiler, which can adjust the extending distance of a travelling wheel according to water cooling pipelines with different inner diameters, improves the applicability of the device and is convenient for detecting, maintaining and treating the pipelines.
In order to achieve the purpose, the invention adopts the following technical scheme:
a wall climbing robot for detecting and maintaining a water cooled wall of a boiler in a power plant comprises a shell, wherein two walking mechanisms are symmetrically arranged on the outer side of the shell, two air inlet cavities are symmetrically arranged on the inner side of the shell, a device cavity is also arranged in the shell, a reciprocating mechanism is arranged between the device cavity and the two air inlet cavities, air vents communicated with the air inlet cavities are arranged on both sides of the shell, an electromagnetic valve is arranged in the vent hole, a transmission mechanism for indirectly driving the reciprocating mechanism to operate is arranged in the device cavity, the outer side of the shell is symmetrically provided with an upper mounting plate and a lower mounting plate which are both fixedly connected with the shell, go up the upside fixedly connected with magnetic leakage detector of mounting panel, the downside fixedly connected with of lower mounting panel is used for driving drive mechanism's servo motor.
Preferably, reciprocating mechanism includes the fixed plate of fixed connection on the device intracavity side, the lateral wall of fixed plate runs through and is provided with rotatable dwang, the dwang rotates with the fixed plate to be connected, both ends all are provided with the screw hole, two about the dwang the equal threaded connection in inside of screw hole has the screw rod, the one end that the dwang was kept away from to the screw rod extends to the big piston of inside and fixedly connected with in chamber of admitting air, be provided with the restriction mechanism who is used for the screw rod direction between device chamber and the chamber of admitting air.
Preferably, the internal thread directions of the two threaded holes are opposite, the screw rod is integrally formed by a thread part and a rectangular part, and the thread part of the screw rod is positioned at one end close to the rotating rod.
Preferably, the limiting mechanism comprises a guide sleeve which penetrates between the device cavity and the air inlet cavity, the inner side of the guide sleeve is of a rectangular structure, and the rectangular part of the screw rod is located inside the guide sleeve.
Preferably, the transmission mechanism comprises a stabilizing plate fixedly connected to the inner side of the device cavity, the tail end of the output shaft of the servo motor extends to the inside of the device cavity and is fixedly connected with a rotating shaft, the rotating shaft penetrates through the stabilizing plate and is fixedly connected with a second bevel gear, a first bevel gear is sleeved on the outer side of the rotating rod, the first bevel gear and the second bevel gear are meshed with each other, and the rotating shaft and the stabilizing plate are rotatably connected through a bearing.
Preferably, running gear includes that the circumferencial direction equidistant sets up a plurality of support section of thick bamboos on the casing outside, support a section of thick bamboo and casing fixed connection, be linked together through the intercommunicating pore between support section of thick bamboo and the chamber of admitting air, the inside of supporting a section of thick bamboo is provided with the slip chamber, the inside sliding connection in slip chamber has little piston, the lateral wall fixedly connected with slide bar of little piston, the one end that little piston was kept away from to the slide bar extends to the outside and the fixedly connected with mounting bracket in slip chamber, the inside of mounting bracket is provided with rotatable walking wheel, be provided with elastic mechanism between little piston and the slip chamber.
Preferably, the elastic mechanism comprises a compression spring sleeved on the outer side of the sliding rod, and two ends of the compression spring are respectively and fixedly connected to the side wall of the small piston and the inner side of the sliding cavity.
Preferably, the inner side of the guide sleeve is provided with a sealing strip, and the sealing strip is abutted to the rectangular part of the screw rod.
The invention has the following beneficial effects:
1. by the arrangement of the travelling mechanism, the distance of the travelling wheels can be outwards adjusted according to the water cooling pipelines with different inner diameters, so that the applicability of the device is improved;
2. through the arrangement of the elastic mechanism, when exhausting, the small piston is reset under the elastic action of the compression spring, and air in the air inlet cavity is exhausted;
3. through the arrangement of the reciprocating mechanism, outside air can be sucked into the air inlet cavity, and under the extrusion action of the large piston, the air in the air inlet cavity is discharged into the sliding cavity through the communication hole, so that the small piston can be pushed outwards, and the adjustment of the travelling wheel is facilitated;
4. through the arrangement of the limiting mechanism, the screw rod can move along a straight line under the action of the guide sleeve;
5. because the internal thread directions of the two threaded holes are opposite, the two threaded rods can move oppositely and oppositely, and the large piston can be pushed and pulled conveniently;
6. through the arrangement of the electromagnetic valve, air intake and exhaust of the air intake cavity can be controlled, and the extension and retraction of the travelling wheels are facilitated;
7. through the arrangement of the transmission mechanism and the servo motor, the operation of the reciprocating mechanism is conveniently and indirectly realized through the transmission mechanism under the action of the transmission mechanism.
Drawings
FIG. 1 is a schematic cross-sectional structure diagram of a wall climbing robot for detecting and maintaining a water wall of a power plant boiler, according to the present invention;
FIG. 2 is a schematic side view of a wall climbing robot for detecting and repairing a water wall of a power plant boiler according to the present invention;
FIG. 3 is a schematic structural diagram of a reciprocating mechanism of a wall climbing robot for detecting and maintaining a water wall of a power plant boiler, according to the present invention;
fig. 4 is a schematic front view of a wall climbing robot for detecting and maintaining a water wall of a power plant boiler according to the present invention.
In the figure: the device comprises a shell 1, a communicating hole 2, an air inlet cavity 3, a supporting cylinder 4, a mounting rack 5, a traveling wheel 6, a servo motor 7, a lower mounting plate 8, a small piston 9, a compression spring 10, a sliding rod 11, an upper mounting plate 12, a magnetic flux leakage detector 13, a sliding cavity 14, a vent hole 15, an electromagnetic valve 16, a large piston 17, a screw rod 18, a guide sleeve 19, a bearing 20, a rotating shaft 21, a threaded hole 22, a stabilizing plate 23, a rotating rod 24, a first bevel gear 25, a second bevel gear 26, a fixing plate 27 and a device cavity 28.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1-4, a power plant boiler water wall detection and maintenance wall climbing robot, including casing 1, the outside symmetry of casing 1 is provided with two running gear, running gear includes that the circumferencial direction equidistant sets up a plurality of support section of thick bamboo 4 on the casing 1 outside, support section of thick bamboo 4 and casing 1 fixed connection, be linked together through intercommunicating pore 2 between support section of thick bamboo 4 and the chamber 3 that admits air, the inside of support section of thick bamboo 4 is provided with sliding chamber 14, sliding chamber 14's inside sliding connection has little piston 9, little piston 9's lateral wall fixedly connected with slide bar 11, the one end that little piston 9 was kept away from to slide bar 11 extends to sliding chamber 14's outside and fixedly connected with mounting bracket 5, the inside of mounting bracket 5 is provided with rotatable walking wheel 6, can be applicable to the water-cooling pipeline of different internal.
An elastic mechanism is arranged between the small piston 9 and the sliding cavity 14, the elastic mechanism comprises a compression spring 10 sleeved on the outer side of the sliding rod 11, two ends of the compression spring 10 are respectively and fixedly connected to the side wall of the small piston 9 and the inner side of the sliding cavity 14, and when air is exhausted, the small piston 9 is enabled to reset under the elastic action of the compression spring 10, and air in the air inlet cavity 3 is exhausted.
The inboard symmetry of casing 1 is provided with two air inlet chamber 3, the inside of casing 1 still is provided with device chamber 28, be provided with reciprocating mechanism between device chamber 28 and two air inlet chamber 3, reciprocating mechanism includes fixed plate 27 of fixed connection on device chamber 28 inboard, the lateral wall of fixed plate 27 runs through and is provided with rotatable dwang 24, dwang 24 rotates with fixed plate 27 and is connected, both ends all are provided with screw hole 22 about dwang 24, the equal threaded connection in inside of two screw hole 22 has screw rod 18, the one end that screw rod 24 was kept away from to screw rod 18 extends to the inside and the big piston 17 of fixedly connected with of air inlet chamber 3.
Be provided with the limiting mechanism who is used for screw rod 18 direction between device chamber 28 and the chamber 3 that admits air, limiting mechanism is including running through the uide bushing 19 that sets up between device chamber 28 and the chamber 3 that admits air, the inboard of uide bushing 19 is the rectangle structure, the rectangle position of screw rod 18 is in the inside of uide bushing 19, the inboard of uide bushing 19 is provided with the sealing strip, sealed effect has been played, the gas tightness in chamber 3 that admits air has been guaranteed, the sealing strip sets up with the rectangle portion of screw rod 18 counterbalance, screw rod 18 is under the effect of uide bushing 19, make screw rod 18 can move along the straight line, this mechanism is because the screw hole 22 opposite direction at dwang 24 both ends, thereby realize two screw rods 18 and remove in opposite directions, two screw rods 18 remove like this and drive two.
The internal threads of the two threaded holes 22 are arranged in opposite directions, the threaded rod 18 is integrally formed by a threaded part and a rectangular part, and the threaded part of the threaded rod 18 is positioned at one end close to the rotating rod 24, so that the two threaded rods 18 move towards each other and oppositely.
Both sides of the shell 1 are provided with vent holes 15 communicated with the air inlet cavity 3, the inside of the vent hole 15 is provided with an electromagnetic valve 16 which can control the air inlet and the air exhaust of the air inlet cavity 3, the inside of the device cavity 28 is provided with a transmission mechanism for indirectly driving the reciprocating mechanism to operate, the transmission mechanism comprises a stabilizing plate 23 fixedly connected on the inner side of the device cavity 28, the tail end of an output shaft of the servo motor 7 extends to the inside of the device cavity 28 and is fixedly connected with a rotating shaft 21, the rotating shaft 21 penetrates through the stabilizing plate 23 and is fixedly connected with a second bevel gear 26, the outer side of the rotating rod 24 is sleeved with a first bevel gear 25, the first bevel gear 25 is meshed with the second bevel gear 26, the rotating shaft 21 is rotatably connected with the stabilizing plate 23 through a bearing 20, the rotating shaft 21 is convenient to rotate, the mechanism is meshed with the second bevel gear 26, so that the servo motor 7 can indirectly drive the reciprocating mechanism to operate.
The outside symmetry of casing 1 is provided with mounting panel 12 and lower mounting panel 8, it all with casing 1 fixed connection to go up mounting panel 12 and lower mounting panel 8, the upside fixedly connected with magnetic leakage detector 13 of going up mounting panel 12, be used for detecting the impaired department in the water-cooling pipeline, through magnetic leakage detector 13 with the water-cooling pipeline in the position not up to standard detect the record, make things convenient for the maintenance of water-cooling pipeline to handle, the downside fixedly connected with of lower mounting panel 8 is used for driving drive mechanism's servo motor 7, the convenient operation that realizes reciprocating mechanism indirectly through drive mechanism.
When the device works, the device is placed inside a water cooling pipeline, the electromagnetic valve 16 is opened, the switch of the servo motor 7 is opened, the output shaft of the servo motor 7 rotates to drive the rotating shaft 21 to rotate, in the rotating process of the rotating shaft 21, the stability of the rotation of the rotating shaft 21 is ensured through the arrangement of the stabilizing plate 23 and the bearing 20, the rotating shaft 21 can better rotate, the rotating shaft 21 rotates to drive the second bevel gear 26 to rotate, the first bevel gear 25 can rotate due to the mutual meshing between the second bevel gear 26 and the first bevel gear 25, the rotating shaft 24 can be driven to rotate by the rotation of the first bevel gear 25, the directions of the threaded holes 22 at the two ends of the rotating shaft 24 are opposite, so that the two screw rods 18 move oppositely, the screw rods 18 can move along a straight line under the action of the guide sleeve 19, the screw rods 18 move to drive the large piston 17 to move, when the large piston 17 moves to the, close solenoid valve 16, at this moment, can be with servo motor 7's output shaft reversal, thereby realize that two big pistons 17 can remove on the contrary, the air in the chamber 3 that will admit air is discharged into the inside of sliding chamber 14 through intercommunicating pore 2, can promote little piston 9 outwards like this, little piston 9 moves outwards and drives slide bar 11 and move outwards, slide bar 11 moves outwards and drives mounting bracket 5 and move outwards, the surface contact water-cooling pipeline's of walking wheel 6 inboard can, it expandes to make things convenient for the detection work of device like this, detect the record through magnetic leakage detector 13 with the position that does not reach standard in the water-cooling pipeline, make things convenient for the maintenance of water-cooling pipeline to handle, after detecting and finishing, can open solenoid valve 16, make little piston 9 reset under compression spring 10's elastic action, the air in the chamber 3 that admits air is discharged.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention and the equivalent alternatives or modifications according to the technical solution and the inventive concept of the present invention within the technical scope of the present invention.
Claims (8)
1. The utility model provides a power plant's boiler water-cooling wall inspection and maintenance wall climbing robot, includes casing (1), its characterized in that, the outside symmetry of casing (1) is provided with two running gear, the inboard symmetry of casing (1) is provided with two chamber (3) of admitting air, the inside of casing (1) still is provided with device chamber (28), be provided with the reciprocating mechanism who is used for between device chamber (28) and two chamber (3) of admitting air, the both sides of casing (1) all are provided with air vent (15) that are linked together with chamber (3) of admitting air, the inside of air vent (15) is provided with solenoid valve (16), the inside of device chamber (28) is provided with and is used for indirectly ordering about reciprocating mechanism moving drive mechanism, the outside symmetry of casing (1) is provided with mounting panel (12) and lower mounting panel (8), it all with casing (1) fixed connection to go up mounting panel (12) and lower mounting panel (8), go up upside fixedly connected with magnetic leakage detector (13) of mounting panel (12), the downside fixedly connected with of lower mounting panel (8) is used for driving drive mechanism's servo motor (7).
2. The power plant boiler water wall detects maintenance wall climbing robot of claim 1, characterized in that, reciprocating mechanism includes fixed plate (27) of fixed connection on device chamber (28) inboard, the lateral wall of fixed plate (27) runs through and is provided with rotatable dwang (24), dwang (24) are rotated with fixed plate (27) and are connected, both ends all are provided with screw hole (22), two about dwang (24) the equal threaded connection in inside of screw hole (22) has screw rod (18), the one end that dwang (24) were kept away from to screw rod (18) extends to the inside of air inlet chamber (3) and fixedly connected with big piston (17), be provided with the limiting mechanism who is used for screw rod (18) to lead between device chamber (28) and air inlet chamber (3).
3. The power plant boiler water wall detection, maintenance and wall climbing robot according to claim 2, characterized in that the internal thread directions of the two threaded holes (22) are opposite, the screw rod (18) is integrally formed by a threaded part and a rectangular part, and the threaded part of the screw rod (18) is located at one end close to the rotating rod (24).
4. The power plant boiler water wall detection, maintenance and wall climbing robot according to claim 3, characterized in that the limiting mechanism comprises a guide sleeve (19) penetrating between the device cavity (28) and the air inlet cavity (3), the inner side of the guide sleeve (19) is in a rectangular structure, and the rectangular part of the screw (18) is located inside the guide sleeve (19).
5. The power plant boiler water wall detection and maintenance wall climbing robot according to claim 4, characterized in that, the transmission mechanism includes a stabilizing plate (23) fixedly connected to the inner side of the device cavity (28), the tail end of the output shaft of the servo motor (7) extends to the inside of the device cavity (28) and is fixedly connected with a rotating shaft (21), the rotating shaft (21) penetrates through the stabilizing plate (23) and a second bevel gear (26), a first bevel gear (25) is sleeved on the outer side of the rotating rod (24), the first bevel gear (25) is meshed with the second bevel gear (26), and the rotating shaft (21) is rotatably connected with the stabilizing plate (23) through a bearing (20).
6. The power plant boiler water wall detection and maintenance wall climbing robot according to claim 1, it is characterized in that the walking mechanism comprises a plurality of supporting cylinders (4) which are arranged on the outer side of the shell (1) at equal intervals in the circumferential direction, the supporting cylinder (4) is fixedly connected with the shell (1), the supporting cylinder (4) is communicated with the air inlet cavity (3) through a communicating hole (2), a sliding cavity (14) is arranged in the supporting cylinder (4), a small piston (9) is connected in the sliding cavity (14) in a sliding way, the side wall of the small piston (9) is fixedly connected with a sliding rod (11), one end of the sliding rod (11) far away from the small piston (9) extends to the outside of the sliding cavity (14) and is fixedly connected with a mounting frame (5), a rotatable travelling wheel (6) is arranged in the mounting rack (5), an elastic mechanism is arranged between the small piston (9) and the sliding cavity (14).
7. The power plant boiler water wall detection, maintenance and wall climbing robot according to claim 6, characterized in that the elastic mechanism comprises a compression spring (10) sleeved on the outer side of the sliding rod (11), and two ends of the compression spring (10) are respectively and fixedly connected to the side wall of the small piston (9) and the inner side of the sliding cavity (14).
8. The power plant boiler water wall detection, maintenance and wall climbing robot as claimed in claim 7, characterized in that the inside of the guiding sleeve (19) is provided with a sealing strip, and the sealing strip is arranged against the rectangular part of the screw rod (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010480425.2A CN111572665A (en) | 2020-05-30 | 2020-05-30 | Wall climbing robot for detecting and maintaining water cooled wall of power plant boiler |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010480425.2A CN111572665A (en) | 2020-05-30 | 2020-05-30 | Wall climbing robot for detecting and maintaining water cooled wall of power plant boiler |
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| CN111572665A true CN111572665A (en) | 2020-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010480425.2A Withdrawn CN111572665A (en) | 2020-05-30 | 2020-05-30 | Wall climbing robot for detecting and maintaining water cooled wall of power plant boiler |
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| CN (1) | CN111572665A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112229726A (en) * | 2020-09-29 | 2021-01-15 | 湖北中精衡建筑检测技术有限责任公司 | Automatic high-rise building railing horizontal thrust detection device and detection control system who goes up and down |
| CN112319644A (en) * | 2020-11-17 | 2021-02-05 | 北京汇力智能科技有限公司 | Wall climbing detection robot |
| CN112518731A (en) * | 2020-11-30 | 2021-03-19 | 成都普崔克机电有限公司 | Software driver and software device |
| CN113670526A (en) * | 2021-09-09 | 2021-11-19 | 芜湖福记恒机械有限公司 | Copper water jacket leakproofness check out test set |
| CN114534377A (en) * | 2022-02-14 | 2022-05-27 | 山东莱钢永锋钢铁有限公司 | Device for reducing carrying of water drops of wet desulphurization direct-exhaust chimney and construction method |
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| CN112518731B (en) * | 2020-11-30 | 2022-11-25 | 成都普崔克机电有限公司 | Software driver and software device |
| CN113670526A (en) * | 2021-09-09 | 2021-11-19 | 芜湖福记恒机械有限公司 | Copper water jacket leakproofness check out test set |
| CN113670526B (en) * | 2021-09-09 | 2024-01-16 | 芜湖福记恒机械有限公司 | Copper water jacket tightness detection equipment |
| CN114534377A (en) * | 2022-02-14 | 2022-05-27 | 山东莱钢永锋钢铁有限公司 | Device for reducing carrying of water drops of wet desulphurization direct-exhaust chimney and construction method |
| CN115681672A (en) * | 2022-10-24 | 2023-02-03 | 中国科学院光电技术研究所 | Metal pipeline repairing robot in nuclear radiation environment |
| CN115681672B (en) * | 2022-10-24 | 2024-07-23 | 中国科学院光电技术研究所 | Metal pipeline repairing robot in nuclear radiation environment |
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