CN208860805U - A kind of walking crawl device detected automatically for large-scale storage tank - Google Patents
A kind of walking crawl device detected automatically for large-scale storage tank Download PDFInfo
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- CN208860805U CN208860805U CN201821485989.XU CN201821485989U CN208860805U CN 208860805 U CN208860805 U CN 208860805U CN 201821485989 U CN201821485989 U CN 201821485989U CN 208860805 U CN208860805 U CN 208860805U
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Abstract
The purpose of the utility model is to provide a kind of walking crawl devices detected automatically for large-scale storage tank, including tank wall, electric walking mule carriage, detection device moving track frame and detection device, it is characterized by: electric walking mule carriage is equipped with multiple walking gravity blocks, balancing gravity case, two outer wall holding frames, two inner wall holding frames and tank wall clamp driving motor, outer wall clamping wheel is additionally provided on each outer wall holding frame, track reinforcing rib there are four being set on detection device moving track frame, detection device dragger and two moving track frame clamping wheels, detection device is by tethered sliding platform, X-ray production apparatus and X-ray production apparatus retaining frame composition.The mechanism structure clear thinking, the work pattern of remote control to operate more convenient, it is handy, equipment crawl is more firm, and fixed structure is more reasonable, improves the safety of equipment detection, avoid artificial climbing detection, the labor intensity for alleviating operating personnel, saves detection time, improves detection efficiency.
Description
Technical field
The utility model relates to the industrial x-ray detection field of large-scale storage tank, more particularly to one kind are automatic for large-scale storage tank
The walking crawl device of detection.
Background technique
Large-scale storage tank is the indispensable container of the very universal and common media storage of Modernized Chemical Enterprises and medium reverts,
It is also one of capital equipment.Currently, the tank wall ray detection for all large-scale storage tanks is built and was used as storage tank
Cheng Zhong is an essential implementation means, there is very wide application prospect, but domestic at present for the inspection of tank skin ray
The degree of automation of measurement equipment is still very low, most or completed using manual operation, and along with using some builts
Mode is detected, and when detecting, x-ray flaw detector is difficult to fix on tank skin, is even fixed, it is also difficult to X-ray
Defectoscope carries out mobile contraposition, also increases the labor intensity of operator in this way, and working efficiency is also very low, and high-altitude is made
Industry detects also along with certain risk, has an impact to the personal safety of operator.
Utility model content
It is exclusively used in the tank wall of large-scale storage tank the purpose of the utility model is to provide a kind of, it can be along tank wall
The wall thickness on upper edge carries out automatically walk, and carries out X-ray detection operation using the moving track frame on the outside of tank wall, avoids
By artificially climb carry out tank body detection, thus efficiently solve detection labor intensity of operating staff it is excessive, improve work effect
Rate realizes the walking climbing mechanism of multi-orientation detection.
The technical solution of the utility model are as follows: a kind of walking crawl device detected automatically for large-scale storage tank, including storage
Tank skin, electric walking mule carriage, detection device moving track frame and detection device, the electric walking parking stall in the upper edge of tank wall,
The electric walking mule carriage is to be fixedly connected with tank wall, and the detection device moving track frame is located at the outside of tank wall, described
Detection device moving track frame is to be fixedly connected with electric walking mule carriage, and the detection device is located at detection device moving track frame
Side, the detection device are to be fixedly connected with detection device moving track frame, it is characterised in that: in the electric walking mule carriage also
Equipped with several walking gravity blocks, balancing gravity case, two outer wall holding frames, two inner wall holding frames and tank wall clamping driving
Motor, any walking gravity block are located at the inside of electric walking mule carriage, and the walking gravity block and electric walking mule carriage are activity
Connection, the balancing gravity case are located at the inside of tank wall, and the balancing gravity case is to be fixedly connected with electric walking mule carriage, described
Two outer wall holding frames are located at the two sides of detection device moving track frame, described two outer wall holding frames and electric walking mule carriage in parallel
To be fixedly connected, described two inner wall holding frames are located at the inside of tank wall, described two inner wall holding frames and electric walking mule carriage
To be fixedly connected, the tank wall clamping driving motor is located at the side of any one inner wall holding frame close to inner wall clamping wheel
At position, the tank wall clamping driving motor is to be fixedly connected, and tank wall clamping driving is electric with inner wall holding frame
Machine is connect using transmission belt with inner wall clamping wheel, and the detection device is by tethered sliding platform, X-ray production apparatus and X-ray production apparatus retaining frame
Composition, the tethered sliding platform are located at the side of detection device moving track frame, and the tethered sliding platform and detection device are mobile
Track frame is to be flexibly connected, and the tethered sliding platform is connect using flexible steel wire with detection device dragger, the X-ray
Machine is located at the middle part of tethered sliding platform, and the X-ray production apparatus is to be fixedly connected with tethered sliding platform, and the X-ray production apparatus retaining frame is located at X
The outside of X-ray machine X, the X-ray production apparatus retaining frame are to be fixedly connected with tethered sliding platform.
Further, the electric walking mule carriage is the orientation stainless steel moving trolley with servo control system, if described
The quantity of dry walking gravity block is multiple, and is solid iron.
Further, outer wall clamping wheel is additionally provided on any outer wall holding frame, the outer wall clamping wheel is located at outer wall folder
It holds between frame and tank wall, the outer wall clamping wheel is to be fixedly connected with outer wall holding frame, on any inner wall holding frame also
Equipped with inner wall clamping wheel, the inner wall clamping wheel is between inner wall holding frame and tank wall, the inner wall clamping wheel and inner wall
Holding frame is to be fixedly connected.
Further, the outer wall clamping wheel, inner wall clamping wheel are directional wheel.
Further, the tank wall clamping driving motor is servo motor.
Further, the detection device moving track frame is rectangle hollow out stainless steel groove formula track frame.
Further, several track reinforcing ribs, detection device dragger are additionally provided on the detection device moving track frame
With two moving track frame clamping wheels, any track reinforcing rib is located at the side of detection device moving track frame, the rail
Road reinforcing rib is to be fixedly connected with detection device moving track frame, and the detection device dragger is located at detection device moving track
The top of frame, the detection device dragger are to be fixedly connected with detection device moving track frame, any moving track frame
Clamping wheel is between detection device moving track frame and tank wall, the moving track frame clamping wheel and detection device moving rail
Road frame is to be fixedly connected.
Further, the quantity of several track reinforcing ribs is 4, and is iron plate, and the detection device is led
Drawing machine is steel cable dragger.
Further, the tethered sliding platform is hollow out stainless steel frame.
Further, the X-ray production apparatus retaining frame is transparent toughened glass frame.
The utility model has the beneficial effects that: the equipment be it is a kind of be exclusively used in the tank wall of large-scale storage tank, can be with
Automatically walk is carried out along the wall thickness on edge in tank wall, and carries out X-ray detection using the moving track frame on the outside of tank wall
Operation, avoid by artificially climb carry out tank body detection, thus efficiently solve detection labor intensity of operating staff it is excessive, mention
High working efficiency, realizes the walking climbing mechanism of multi-orientation detection.The inside of the electric walking mule carriage is equipped with multiple walkings weight
Power block, each walking gravity block are can be played the role of a weight bearing to electric walking mule carriage in this way using solid iron, be made
The center of gravity for obtaining electric walking mule carriage is more concentrated, but also car body itself is more stable, since the side of electric walking mule carriage is equipped with one
A detection device moving track frame, is easy to cause deviation of gravity center, so its other side is also equipped with a balancing gravity case, operator
Walking gravity block can also be put into balancing gravity case by member, so that the left and right weight of electric walking mule carriage is average, Jin Errang
The walking of electric walking mule carriage will not deviate, and the mechanism structure clear thinking, the work pattern of remote control to operate
Next more convenient, handy, equipment crawl is more firm, and fixed structure is more reasonable, improves the safety of equipment detection,
Artificial climbing detection is avoided, the labor intensity of operating personnel is alleviated, saves detection time, improve detection efficiency.
Detailed description of the invention
Fig. 1 is the main view of the utility model.
Fig. 2 is the side structure schematic diagram of the utility model.
Wherein: 1, tank wall 2, electric walking mule carriage 3, walking gravity block
4, balancing gravity case 5, outer wall holding frame 6, outer wall clamping wheel
7, inner wall holding frame 8, inner wall clamping wheel 9, tank wall clamp driving motor
10, detection device moving track frame 11, track reinforcing rib 12, detection device dragger
13, moving track frame clamping wheel 14, detection device 15, tethered sliding platform
16, X-ray production apparatus 17, X-ray production apparatus retaining frame
Specific embodiment
Brief description is made to specific embodiment of the present utility model with reference to the accompanying drawing.
A kind of walking crawl device detected automatically for large-scale storage tank as shown in Figure 1 and Figure 2, including it is tank wall 1, electronic
Moving trolley 2, detection device moving track frame 10 and detection device 14, the electric walking mule carriage 2 are located at the upper edge of tank wall 1, institute
It is to be fixedly connected that electric walking mule carriage 2, which is stated, with tank wall 1, and the detection device moving track frame 10 is located at the outside of tank wall 1, institute
It is to be fixedly connected that detection device moving track frame 10, which is stated, with electric walking mule carriage 2, and it is mobile that the detection device 14 is located at detection device
The side of track frame 10, the detection device 14 are to be fixedly connected with detection device moving track frame 10, it is characterised in that: described
Several walking gravity blocks 3, the clamping of 4, two, the balancing gravity case inner wall of outer wall holding frame 5, two are additionally provided in electric walking mule carriage 2
Frame 7 and tank wall clamp driving motor 9, and any walking gravity block 3 is located at the inside of electric walking mule carriage 2, the walking weight
Power block 3 is to be flexibly connected with electric walking mule carriage 2, and the balancing gravity case 4 is located at the inside of tank wall 1, the balancing gravity case 4
It is to be fixedly connected with electric walking mule carriage 2, described two outer wall holding frames 5 are located at the two of detection device moving track frame 10 in parallel
Side, described two outer wall holding frames 5 are to be fixedly connected with electric walking mule carriage 2, are additionally provided with outer wall on any outer wall holding frame 5
Clamping wheel 6, between outer wall holding frame 5 and tank wall 1, the outer wall clamping wheel 6 clamps the outer wall clamping wheel 6 with outer wall
Frame 5 is to be fixedly connected, and described two inner wall holding frames 7 are located at the inside of tank wall 1, described two inner wall holding frames 7 with it is electronic
Moving trolley 2 is to be fixedly connected, and is additionally provided with inner wall clamping wheel 8 on any inner wall holding frame 7, the inner wall clamping wheel 8 is located at
Between inner wall holding frame 7 and tank wall 1, the inner wall clamping wheel 8 is to be fixedly connected with inner wall holding frame 7, the tank wall folder
It holds driving motor 9 and is located at the side of any one inner wall holding frame 7 at the position of inner wall clamping wheel 8, the tank wall folder
Hold driving motor 9 and inner wall holding frame 7 be fixedly connected, and tank wall clamping driving motor 9 using transmission belt with it is interior
Wall clamping wheel 8 connects, several track reinforcing ribs 11, detection device traction are additionally provided on the detection device moving track frame 10
Machine 12 and two moving track frame clamping wheels 13, any track reinforcing rib 11 are located at the one of detection device moving track frame 10
Side, the track reinforcing rib 11 are to be fixedly connected with detection device moving track frame 10, and the detection device dragger 12 is located at
The top of detection device moving track frame 10, the detection device dragger 12 are fixed connect with detection device moving track frame 10
It connects, any moving track frame clamping wheel 13 is between detection device moving track frame 10 and tank wall 1, the moving rail
Road frame clamping wheel 13 is to be fixedly connected with detection device moving track frame 10, and the detection device 14 is by tethered sliding platform 15, X
X-ray machine X 16 and X-ray production apparatus retaining frame 17 form, and the tethered sliding platform 15 is located at the side of detection device moving track frame 10, institute
Stating tethered sliding platform 15 is to be flexibly connected, and the tethered sliding platform 15 utilizes wire hawser with detection device moving track frame 10
Rope is connect with detection device dragger 12, and the X-ray production apparatus 16 is located at the middle part of tethered sliding platform 15, the X-ray production apparatus 16 and
Tethered sliding platform 15 is to be fixedly connected, and the X-ray production apparatus retaining frame 17 is located at the outside of X-ray production apparatus 16, the X-ray production apparatus retaining frame 17
It is to be fixedly connected with tethered sliding platform 15.The electric walking mule carriage 2 is the orientation stainless steel row with servo control system
Mule carriage.The quantity of several walking gravity blocks 3 is multiple, and is solid iron.The outer wall clamping wheel 6, inner wall
Clamping wheel 8 is directional wheel.The tank wall clamping driving motor 9 is servo motor.The detection device moving track frame 10
For rectangle hollow out stainless steel groove formula track frame.The quantity of several track reinforcing ribs 11 is 4, and is iron plate.
The detection device dragger 12 is steel cable dragger.The tethered sliding platform 15 is hollow out stainless steel frame.The X-ray production apparatus
Retaining frame 17 is transparent toughened glass frame.
Working method: the equipment be it is a kind of be exclusively used in the tank wall of large-scale storage tank, can be along edge in tank wall
Wall thickness carries out automatically walk, and carries out X-ray detection operation using the moving track frame on the outside of tank wall, avoids and passes through people
For climbing carry out tank body detection, thus efficiently solve detection labor intensity of operating staff it is excessive, improve work efficiency, realize
The walking climbing mechanism of multi-orientation detection.The equipment mainly includes tank wall 1, electric walking mule carriage 2, detection device moving track
Frame 10 and detection device 14, electric walking mule carriage 2 therein are mounted on the upper edge of tank wall 1, distinguish in the two sides of electric walking mule carriage 2
If there are two outer wall holding frame 5 and two inner wall holding frames 7, and two outer wall holding frames 5 are located at the outside of tank wall 1,
That is the outside of storage tank, and two inner wall holding frames 7 are located at the inside of tank wall 1, the i.e. inside of storage tank, so that electric walking
Vehicle 2 itself will be installed in tank wall 1 using the two outer wall holding frames 5 and two inner wall holding frames 7 of its two sides, in addition,
An outer wall clamping wheel 6 is also equipped on each outer wall holding frame 5, which is located at outer wall holding frame 5 and tank wall 1
Between, an inner wall clamping wheel 8 is also equipped on each inner wall holding frame 7, which is located at 7 He of inner wall holding frame
Between tank wall 1, each outer wall clamping wheel 6 and each inner wall clamping wheel 8 are all made of directional wheel, so that each outer wall holding frame 5
Oneself an auxiliary moving machine system is formed with each inner wall holding frame 7, and is leaned in the side of a wherein inner wall holding frame 7
Driving motor 9 is clamped equipped with a tank wall at the position of nearly inner wall clamping wheel 8, tank wall clamping driving motor 9, which uses, to be watched
Motor is taken, and electric walking mule carriage 2 is also using the orientation stainless steel moving trolley for having servo control system, the two servos
Control signal received by motor is consistent, can operate synchronously, and then allows the driving of electric walking mule carriage 2 is more strong, step
It is more consistent；The inside of the electric walking mule carriage 2 is equipped with multiple walking gravity blocks 3, and each walking gravity block 3 is using solid-iron
Block can play the role of a weight bearing to electric walking mule carriage 2 in this way, so that the center of gravity of electric walking mule carriage 2 is more concentrated, also make
It is more stable to obtain car body itself；Entire detection device moving track frame 10 is installed in the outside of tank wall 1, and and electric walking
Mule carriage 2 is fixedly connected, moreover, the detection device moving track frame 10 uses rectangle hollow out stainless steel groove formula track frame, thereon
Portion is additionally provided with four track reinforcing ribs 11, detection device dragger 12 and two moving track frame clamping wheels 13, and detects dress
Set 14 sides for being also mounted on the detection device moving track frame 10, so that the weight of 2 side of electric walking mule carriage is excessively heavy,
It is easy to cause the deviation of 2 center of gravity of electric walking mule carriage, in order to prevent the generation of this phenomenon, is then in the inside of tank wall 1, i.e. electricity
The other side of dynamic moving trolley 2 is also equipped with a balancing gravity case 4, and walking gravity block 3 can also be put into balance weight by operator
In power case 4, so that the left and right weight of electric walking mule carriage 2 is average, and then the walking of electric walking mule carriage 2 will not be occurred partially
From two moving track frame clamping wheels 13 are mounted between detection device moving track frame 10 and tank wall 1, to detection device
While moving track frame 10 is played a supporting role, moreover it is possible to the movement of auxiliary detection device moving track frame 10, wherein detection dress
It sets dragger 12 and uses steel cable dragger, for carrying out descending operation to detection device 14, which is by drawing
Mobile station 15, X-ray production apparatus 16 and X-ray production apparatus retaining frame 17 form, which is then to be fixed on detection device moving rail
In the groove of road frame 10, and it is connect using flexible steel wire with detection device dragger 12, and X-ray production apparatus 16 is then to be fixed on to lead
Draw in mobile station 15, which uses hollow out stainless steel frame, so X-ray production apparatus 16 can penetrate tethered sliding platform 15
The hollowed out area at middle part and the lifting moving on detection device moving track frame 10, to detection device moving track frame 10
The tank skin of the hollowed out area at middle part is detected, and in addition to this, is also equipped with an X-ray production apparatus retaining frame in the outside of X-ray production apparatus 16
17, which uses transparent toughened glass frame, and operator can be penetrated by the X-ray production apparatus retaining frame 17 to observe X
The detection angle of line machine 16, and can also play a good protective effect.The mechanism structure clear thinking, the operation of remote control
Mode to operate more convenient, and handy, equipment crawl is more firm, and fixed structure is more reasonable, improves and sets
The safety of standby detection avoids artificial climbing detection, alleviates the labor intensity of operating personnel, save detection time, mention
High detection efficiency.
In the description of the present invention, it should be noted that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "inner", "outside", " top ", " bottom ", " end "
Or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model and simplification is retouched
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it should not be understood as limiting the present invention.In addition, term " first ", " second ", " third " are used for description purposes only,
It is not understood to indicate or imply relative importance.
One embodiment of the utility model is described in detail above, but the content is only the utility model
Preferred embodiment should not be considered as limiting the scope of the present invention.It is all to be made according to application scope of the utility model
All the changes and improvements etc., should still belong within the patent covering scope of the utility model.
Claims (10)
1. a kind of walking crawl device detected automatically for large-scale storage tank, including tank wall, electric walking mule carriage, detection device shifting
Dynamic track frame and detection device, in the upper edge of tank wall, the electric walking mule carriage and tank wall are solid for the electric walking parking stall
Fixed connection, the detection device moving track frame are located at the outside of tank wall, the detection device moving track frame and electric walking
Mule carriage is to be fixedly connected, and the detection device is located at the side of detection device moving track frame, and the detection device and detection fill
Setting moving track frame is to be fixedly connected, it is characterised in that: several walking gravity blocks, balance are additionally provided in the electric walking mule carriage
Gravity box, two outer wall holding frames, two inner wall holding frames and tank wall clamp driving motor, any walking gravity block position
In the inside of electric walking mule carriage, the walking gravity block is to be flexibly connected with electric walking mule carriage, and the balancing gravity case is located at storage
The inside of tank skin, the balancing gravity case are to be fixedly connected with electric walking mule carriage, and described two outer wall holding frames are located at inspection in parallel
The two sides of device moving track frame are surveyed, described two outer wall holding frames are to be fixedly connected with electric walking mule carriage, described two inner walls
Holding frame is located at the inside of tank wall, and described two inner wall holding frames are to be fixedly connected with electric walking mule carriage, the tank wall folder
It holds driving motor and is located at the side of any one inner wall holding frame at the position of inner wall clamping wheel, the tank wall clamping is driven
Dynamic motor is to be fixedly connected, and tank wall clamping driving motor utilizes transmission belt and inner wall clamping wheel with inner wall holding frame
Connection, the detection device are made of tethered sliding platform, X-ray production apparatus and X-ray production apparatus retaining frame, and the tethered sliding platform is located at inspection
The side of device moving track frame is surveyed, the tethered sliding platform is flexibly connected with detection device moving track frame, and described
Tethered sliding platform is connect using flexible steel wire with detection device dragger, and the X-ray production apparatus is located at the middle part of tethered sliding platform, institute
It is to be fixedly connected that X-ray production apparatus, which is stated, with tethered sliding platform, and the X-ray production apparatus retaining frame is located at the outside of X-ray production apparatus, the X-ray production apparatus
Retaining frame is to be fixedly connected with tethered sliding platform.
2. a kind of walking crawl device detected automatically for large-scale storage tank according to claim 1, it is characterised in that: described
Electric walking mule carriage is the orientation stainless steel moving trolley with servo control system, the quantity of several walking gravity blocks
It to be multiple, and is solid iron.
3. a kind of walking crawl device detected automatically for large-scale storage tank according to claim 1, it is characterised in that: any
Outer wall clamping wheel is additionally provided on the outer wall holding frame, the outer wall clamping wheel is between outer wall holding frame and tank wall, institute
It is to be fixedly connected that outer wall clamping wheel, which is stated, with outer wall holding frame, is additionally provided with inner wall clamping wheel on any inner wall holding frame, described
For inner wall clamping wheel between inner wall holding frame and tank wall, the inner wall clamping wheel is to be fixedly connected with inner wall holding frame.
4. a kind of walking crawl device detected automatically for large-scale storage tank according to claim 3, it is characterised in that: described
Outer wall clamping wheel, inner wall clamping wheel are directional wheel.
5. a kind of walking crawl device detected automatically for large-scale storage tank according to claim 1, it is characterised in that: described
It is servo motor that tank wall, which clamps driving motor,.
6. a kind of walking crawl device detected automatically for large-scale storage tank according to claim 1, it is characterised in that: described
Detection device moving track frame is rectangle hollow out stainless steel groove formula track frame.
7. a kind of walking crawl device detected automatically for large-scale storage tank according to claim 1, it is characterised in that: described
Several track reinforcing ribs, detection device dragger and two moving track frame clampings are additionally provided on detection device moving track frame
Wheel, any track reinforcing rib are located at the side of detection device moving track frame, and the track reinforcing rib and detection device are moved
Dynamic track frame is to be fixedly connected, and the detection device dragger is located at the top of detection device moving track frame, the detection dress
It is to be fixedly connected that dragger, which is set, with detection device moving track frame, and any moving track frame clamping wheel is located at detection device shifting
Between dynamic track frame and tank wall, the moving track frame clamping wheel is to be fixedly connected with detection device moving track frame.
8. a kind of walking crawl device detected automatically for large-scale storage tank according to claim 7, it is characterised in that: described
The quantity of several track reinforcing ribs is 4, and is iron plate, and the detection device dragger is steel cable dragger.
9. a kind of walking crawl device detected automatically for large-scale storage tank according to claim 1, it is characterised in that: described
Tethered sliding platform is hollow out stainless steel frame.
10. a kind of walking crawl device detected automatically for large-scale storage tank according to claim 1, it is characterised in that: institute
Stating X-ray production apparatus retaining frame is transparent toughened glass frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821485989.XU CN208860805U (en) | 2018-09-12 | 2018-09-12 | A kind of walking crawl device detected automatically for large-scale storage tank |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821485989.XU CN208860805U (en) | 2018-09-12 | 2018-09-12 | A kind of walking crawl device detected automatically for large-scale storage tank |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208860805U true CN208860805U (en) | 2019-05-14 |
Family
ID=66417641
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821485989.XU Expired - Fee Related CN208860805U (en) | 2018-09-12 | 2018-09-12 | A kind of walking crawl device detected automatically for large-scale storage tank |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110082373A (en) * | 2019-05-31 | 2019-08-02 | 北京史河科技有限公司 | A kind of flaw detection robot |
| CN111982937A (en) * | 2020-08-26 | 2020-11-24 | 大冶市探伤机有限责任公司 | Automatic calibrating installation of X-ray flaw detection |
-
2018
- 2018-09-12 CN CN201821485989.XU patent/CN208860805U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110082373A (en) * | 2019-05-31 | 2019-08-02 | 北京史河科技有限公司 | A kind of flaw detection robot |
| CN111982937A (en) * | 2020-08-26 | 2020-11-24 | 大冶市探伤机有限责任公司 | Automatic calibrating installation of X-ray flaw detection |
| CN111982937B (en) * | 2020-08-26 | 2023-08-15 | 大冶市探伤机有限责任公司 | Automatic calibrating device of X-ray inspection |
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| CF01 | Termination of patent right due to non-payment of annual fee |