CN105644640B - The climbing robot of boiler water wall overlay thickness is measured using mathematical modeling - Google Patents
The climbing robot of boiler water wall overlay thickness is measured using mathematical modeling Download PDFInfo
- Publication number
- CN105644640B CN105644640B CN201510962776.6A CN201510962776A CN105644640B CN 105644640 B CN105644640 B CN 105644640B CN 201510962776 A CN201510962776 A CN 201510962776A CN 105644640 B CN105644640 B CN 105644640B
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- wheel
- thickness
- vibration damping
- driving
- shaft
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
- G01B17/025—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness for measuring thickness of coating
Abstract
The climbing robot of boiler water wall overlay thickness is measured using mathematical modeling, belongs to boiler water wall detection field.The present invention be in order to the area for solving water screen tube Thickness sensitivity is big, position is scattered, be inconvenient to measure the problem of bringing very big difficulty to staff.Driving chain of the present invention, main wheel, from take turns and compress wheel shaft structure in, main wheel rotate in the case of, by driving chain simultaneously drive from take turns and compress wheel shaft rotate simultaneously, realize robot ambulation function.Driving chain is tensioned by contact roller, driven shaft and driving shaft jointly.Realize that wireless data is interacted between wireless transmission circuit one and wireless transmission circuit two, the thickness signal detected is gathered out, the action of remote control climbing robot is realized, it is to avoid staff enters control robot in burner hearth, the workload of staff is reduced, personal security is also ensure that.
Description
Technical field
Boiler water wall overlay is measured the invention belongs to boiler water wall detection field, more particularly to using mathematical modeling
The climbing robot of thickness.
Background technology
Water-cooling wall is run throughout the year in station boiler, when especially live load is high, and goods fluid amount is big, what is circulated
Under material washes away, boiler water-wall tube is very easy to be worn, especially in boiler wear resistant crook, water-cooling wall outlet flue, screen formula mistake
The situation that many position pipes such as hot device bottom are worn is very serious, and power station staff needs accurately to measure pipe wall thickness simultaneously
Changing in time ensures the safe and stable operation of boiler, but the area of water screen tube Thickness sensitivity is big, position scattered, be inconvenient to measure
Very big difficulty is brought to staff.Also, at the thickness measure, superficial dust in progress boiler water of electric power plant cold wall surface
Manage, to during the work such as situation shooting, working environment is severe in boiler, and artificial operation efficiency is low, and burner hearth is very high in stove
There is personal safety hidden danger during artificial operation.
The content of the invention
The present invention is in order to which the area for solving water screen tube Thickness sensitivity is big, position scattered, is inconvenient to measure and gives work people
The problem of member brings very big difficulty, now provides the wall-climbing device that boiler water wall overlay thickness is measured using mathematical modeling
People.
The climbing robot of boiler water wall overlay thickness is measured using mathematical modeling, it includes：Wireless transmission circuit
First, the wheel group of host computer, connecting portion and two symmetrical structures；
Connecting portion includes：Vibration damping sheet group, vibration damping sheet support frame and leading screw 8；
Vibration damping sheet group shape in form of a grid, and the vibration damping sheet group can stretch horizontal and vertical, vibration damping sheet support frame
Including the two parts being separated from each other, the two parts of the two ends of vibration damping sheet group respectively with vibration damping sheet support frame are hinged, and leading screw 8 is used to drive
Dynamic vibration damping sheet group carries out stretching motion, and two wheel groups are separately fixed on two parts of vibration damping sheet support frame；
Each wheel group includes：Contact roller supporting plate 4, driver 5, from wheel 6, from wheeling supporting frame 7, sonigauge 9, drive
Driving wheel frame 11, driving chain 12, contact roller 13, compress wheel shaft 14, wireless transmission circuit two, driven shaft 15, carbon fiber support 16,
Driving shaft 17, main wheel 18 and DC servo motor 19, are Electromagnetic wheel from wheel 6 and main wheel 18；
Compress wheel shaft 14, driven shaft 15 and driving shaft 17 to be parallel to each other, and compress wheel shaft 14 and be located at driven shaft 15 and active
The top of axle 17, contact roller 13 is fixed on compression wheel shaft 14 end, and main wheel 18 is fixed on the end of driving shaft 17, is fixed on from wheel 6
The end of driven shaft 15, driving chain 12 is socketed in contact roller 13, on the outside of wheel 6 and main wheel 18 simultaneously；
Carbon fiber support 16 is longitudinally disposed, and a wheel group passes through carbon fiber support 16 and a part for vibration damping sheet support frame
It is fixedly connected, driving wheel carrier 11 is fixed on the end of carbon fiber support 16, the head end of driving shaft 17 is rotated with driving wheel carrier 11 to be connected
Connect, and driving shaft 17 is mutually perpendicular to carbon fiber support 16, and the head end of carbon fiber support 16 is fixed on from wheeling supporting frame 7, it is driven
The head end of axle 15 is connected with being rotated from wheeling supporting frame 7, and contact roller supporting plate 4 is fixed on driving wheel carrier 11, compresses wheel shaft 14
Head end is rotated with contact roller supporting plate 4 and is connected, and wireless transmission circuit two and driver 5 are each attached in contact roller supporting plate 4；
The thickness signal output end of sonigauge 9 connects the thickness signal input of wireless transmission circuit two, wirelessly
The control signal output of transmission circuit two connects the control signal input of driver 5, the drive signal output end of driver 5
The driving signal input of DC servo motor 19 is connected, DC servo motor 19 drives main wheel 18 to rotate by driving shaft 17,
Sonigauge 9 is fixed in carbon fiber support 16, and sonigauge 9 is used for the thickness for detecting water screen tube on water-cooling wall
Degree；
Realize that wireless data is interacted between wireless transmission circuit one and wireless transmission circuit two, the thickness of wireless transmission circuit one
Spend the thickness signal input that signal output part connects host computer；
Host computer is included with lower unit：
Initial value recording unit：The thickness signal of the acquisition of wireless transmission circuit one, the thickness signal are gathered and recorded in real time
Send to demarcation unit, will adopt in real time including thickness signal initial value and thickness signal currency, and by thickness signal initial value
The thickness signal currency of collection is sent to actual value obtaining unit；
Demarcate unit：Set up using thickness signal initial value and actual (real) thickness set-point between actual (real) thickness and initial value
Mapping model and model parameter, and the mapping model and model parameter are sent to actual value obtaining unit, the actual (real) thickness
Set-point is set in advance；
Actual value obtaining unit：Thickness signal currency is substituted into the mapping model that demarcation unit is obtained, demarcated
Thickness signal actual value afterwards.
Beneficial effect：Utilization mathematical modeling of the present invention measures the wall-climbing device of boiler water wall overlay thickness
People, can freely walk along tube wall vertical direction on boiler water wall, gather material thickness, and then be pipe under trailer record
Abrasion condition provides data, is provided for power plant staff and whether changes the offer reference of water-cooling wall pipe, present invention automation journey
Degree is high, build small volume and less weight.
Brief description of the drawings
Fig. 1 is the vertical of the climbing robot that utilization mathematical modeling of the present invention measures boiler water wall overlay thickness
Body structural representation；
Fig. 2 is A portions enlarged drawing in Fig. 1；
Fig. 3 is the electric of the climbing robot of the utilization mathematical modeling measurement boiler water wall overlay thickness described in invention
Structural representation.
Embodiment
Embodiment one：Present embodiment is illustrated referring to figs. 1 to Fig. 3, the utilization number described in present embodiment
The climbing robot of modeling measurement boiler water wall overlay thickness is learned, it includes：Wireless transmission circuit one, host computer, connection
Portion and the wheel group of two symmetrical structures；
Connecting portion includes：Vibration damping sheet group, vibration damping sheet support frame and leading screw 8；
Vibration damping sheet group shape in form of a grid, and the vibration damping sheet group can stretch horizontal and vertical, vibration damping sheet support frame
Including the two parts being separated from each other, the two parts of the two ends of vibration damping sheet group respectively with vibration damping sheet support frame are hinged, and leading screw 8 is used to drive
Dynamic vibration damping sheet group carries out stretching motion, and two wheel groups are separately fixed on two parts of vibration damping sheet support frame；
Each wheel group includes：Contact roller supporting plate 4, driver 5, from wheel 6, from wheeling supporting frame 7, sonigauge 9, drive
Driving wheel frame 11, driving chain 12, contact roller 13, compress wheel shaft 14, wireless transmission circuit two, driven shaft 15, carbon fiber support 16,
Driving shaft 17, main wheel 18 and DC servo motor 19, are Electromagnetic wheel from wheel 6 and main wheel 18；
Compress wheel shaft 14, driven shaft 15 and driving shaft 17 to be parallel to each other, and compress wheel shaft 14 and be located at driven shaft 15 and active
The top of axle 17, contact roller 13 is fixed on compression wheel shaft 14 end, and main wheel 18 is fixed on the end of driving shaft 17, is fixed on from wheel 6
The end of driven shaft 15, driving chain 12 is socketed in contact roller 13, on the outside of wheel 6 and main wheel 18 simultaneously；
Carbon fiber support 16 is longitudinally disposed, and a wheel group passes through carbon fiber support 16 and a part for vibration damping sheet support frame
It is fixedly connected, driving wheel carrier 11 is fixed on the end of carbon fiber support 16, the head end of driving shaft 17 is rotated with driving wheel carrier 11 to be connected
Connect, and driving shaft 17 is mutually perpendicular to carbon fiber support 16, and the head end of carbon fiber support 16 is fixed on from wheeling supporting frame 7, it is driven
The head end of axle 15 is connected with being rotated from wheeling supporting frame 7, and contact roller supporting plate 4 is fixed on driving wheel carrier 11, compresses wheel shaft 14
Head end is rotated with contact roller supporting plate 4 and is connected, and wireless transmission circuit two and driver 5 are each attached in contact roller supporting plate 4；
The thickness signal output end of sonigauge 9 connects the thickness signal input of wireless transmission circuit two, wirelessly
The control signal output of transmission circuit two connects the control signal input of driver 5, the drive signal output end of driver 5
The driving signal input of DC servo motor 19 is connected, DC servo motor 19 drives main wheel 18 to rotate by driving shaft 17,
Sonigauge 9 is fixed in carbon fiber support 16, and sonigauge 9 is used for the thickness for detecting water screen tube on water-cooling wall
Degree；
Realize that wireless data is interacted between wireless transmission circuit one and wireless transmission circuit two, the thickness of wireless transmission circuit one
Spend the thickness signal input that signal output part connects host computer；
Host computer is included with lower unit：
Initial value recording unit：The thickness signal of the acquisition of wireless transmission circuit one, the thickness signal are gathered and recorded in real time
Send to demarcation unit, will adopt in real time including thickness signal initial value and thickness signal currency, and by thickness signal initial value
The thickness signal currency of collection is sent to actual value obtaining unit；
Demarcate unit：Set up using thickness signal initial value and actual (real) thickness set-point between actual (real) thickness and initial value
Mapping model and model parameter, and the mapping model and model parameter are sent to actual value obtaining unit, the actual (real) thickness
Set-point is set in advance；
Actual value obtaining unit：Thickness signal currency is substituted into the mapping model that demarcation unit is obtained, demarcated
Thickness signal actual value afterwards.
Realize that wireless data is interacted between wireless transmission circuit one and wireless transmission circuit two, the molten of large area will be detected
Coating thickness signal acquisition comes out, then by the modeling computing of host computer, greatly improves measurement accuracy rate, obtains actual (real) thickness
Value.And then realizing the action of remote control climbing robot, it is to avoid staff enters control robot in burner hearth, reduces work
Make the workload of personnel, also ensure that personal security.
In present embodiment, vibration damping sheet group includes 2 damping grid, and each damping grid include 4 vibration damping sheets 10；Each damping
2 midpoints of vibration damping sheet 10 in grid are hinged, two damping bit ends of a damping grid head end respectively with another damping grid
Two damping bit ends of head end are hinged, and the scalable lattice structure of this vibration damping sheet group causes vibration damping sheet group on horizontal and vertical
Can simultaneous retractable, the spacing to adjust two wheel groups, leading screw 8 is located at the longitudinal direction of 2 damping grid, drives vibration damping sheet group
Along longitudinal extension, and then vibration damping sheet group is caused laterally to produce expanding-contracting action simultaneously.Vibration damping sheet group can be prevented in the process of walking
There is seismism.And vibration damping sheet 10 is elastic component, additionally it is possible to ensure that vibration damping sheet 10 is due to it when water-cooling wall is uneven
Elasticity produces slight deformation, and all Electromagnetic wheels of robot remain unchanged and closely can adsorbed on water cooling tube, and can adjust because of pipe
Change of the Thicknesser probe away from pipe surface distance caused by road bulging deformation.
Driving chain 12, main wheel 18, from wheel 6 and compress wheel shaft 14 structure in, main wheel 18 rotate in the case of, pass through
Driving chain 12 drives from wheel 6 and compression wheel shaft 14 simultaneously to be rotated simultaneously, realizes robot ambulation function.
Each wheel group also includes：Contact roller spring 13, the contact roller spring 13 is used to provide buffering for contact roller 13.Compress
Take turns 13, be jointly tensioned driving chain 12 from wheel 6 and main wheel 18.
The stage casing of carbon fiber support 16 is provided with calibrator support frame, and sonigauge 9 and contact roller supporting plate 4 are solid
It is scheduled on the calibrator support frame.Calibrator support frame is provided with calibrator clip, for clamping calibrator so that calibrator is
Dismountable structure.
Realize that wireless data is interacted between wireless transmission circuit one and wireless transmission circuit two, by the thickness signal detected
Collection comes out, and is then amplified by amplifier in input curve analyzer, directly obtains thickness map, operating personnel enter for
Row data analysis, while being provided with the standard value of overlay in comparator, obtains whether overlay currency meets standard more afterwards,
And then realizing the action of remote control climbing robot, it is to avoid staff enters control robot in burner hearth, reduces work
The workload of personnel, also ensure that personal security.
Embodiment two：Present embodiment is to measure boiler to the utilization mathematical modeling described in embodiment one
The climbing robot of water-cooling wall overlay thickness is described further, and in present embodiment, it also includes：Preceding probe bracket 1, spy
Headgear cylinder 2 and rear probe bracket 3；
Probe bracket 3 is fixed on from wheeling supporting frame 7 afterwards, and preceding probe bracket 1 is fixed on rear probe bracket 3, probe sheath
Before cylinder 2 is fixed on probe bracket 1, probe sleeve 2 is used for the probe for supporting sonigauge 9.
Embodiment three：Present embodiment is to measure boiler to the utilization mathematical modeling described in embodiment one
The climbing robot of water-cooling wall overlay thickness is described further, in present embodiment, main wheel 18 and from wheel 6 cross section it is equal
To be trapezoidal.
Main wheel 18 and be the main members for driving driving chain 12 to move from wheel 6, main wheel 18 and the section from wheel 6 are into ladder
Shape；Contact roller 13 primarily serves the effect of tensioning driving chain 12, and the climbing robot can be made to be run into during creeping
During obstacle, play a part of damping.
Claims (3)
1. the climbing robot of boiler water wall overlay thickness is measured using mathematical modeling, it is characterised in that it includes：Wirelessly
Transmission circuit one, host computer, the wheel group of connecting portion and two symmetrical structures；
Connecting portion includes：Vibration damping sheet group, vibration damping sheet support frame and leading screw (8)；
Vibration damping sheet group shape in form of a grid, and the vibration damping sheet group can stretch horizontal and vertical, and vibration damping sheet support frame includes
The two parts being separated from each other, the two parts of the two ends of vibration damping sheet group respectively with vibration damping sheet support frame are hinged, and leading screw (8) is used to drive
Vibration damping sheet group carries out stretching motion, and two wheel groups are separately fixed on two parts of vibration damping sheet support frame；
Each wheel group includes：Contact roller supporting plate (4), driver (5), from wheel (6), from wheeling supporting frame (7), sonigauge
(9), driving wheel carrier (11), driving chain (12), contact roller (13), compression wheel shaft (14), wireless transmission circuit two, driven shaft
(15), carbon fiber support (16), driving shaft (17), main wheel (18) and DC servo motor (19), it is equal from wheel (6) and main wheel (18)
For Electromagnetic wheel；
Compress wheel shaft (14), driven shaft (15) and driving shaft (17) to be parallel to each other, and compress wheel shaft (14) and be located at driven shaft (15)
With the top of driving shaft (17), contact roller (13) is fixed on compression wheel shaft (14) end, and main wheel (18) is fixed on driving shaft (17)
End, is fixed on driven shaft (15) end, driving chain (12) while being socketed in contact roller (13), from wheel (6) and main from wheel (6)
Take turns on the outside of (18)；
Carbon fiber support (16) is longitudinally disposed, and a wheel group passes through carbon fiber support (16) and a part for vibration damping sheet support frame
It is fixedly connected, driving wheel carrier (11) is fixed on the end of carbon fiber support (16), head end and the driving wheel carrier of driving shaft (17)
(11) connection is rotated, and driving shaft (17) is mutually perpendicular to carbon fiber support (16), and carbon fiber branch is fixed on from wheeling supporting frame (7)
The head end of frame (16), the head end of driven shaft (15) is connected with being rotated from wheeling supporting frame (7), and contact roller supporting plate (4) is fixed on drive
On driving wheel frame (11), the head end for compressing wheel shaft (14) is connected with contact roller supporting plate (4) rotation, wireless transmission circuit two and driving
Device (5) is each attached in contact roller supporting plate (4)；
The thickness signal output end of sonigauge (9) connects the thickness signal input of wireless transmission circuit two, wireless to pass
The control signal input of the control signal output connection driver (5) on transmission of electricity road two, the drive signal output of driver (5)
The driving signal input of end connection DC servo motor (19), DC servo motor (19) drives main wheel by driving shaft (17)
(18) rotate, sonigauge (9) is fixed in carbon fiber support (16), sonigauge (9) is used to detect water-cooling wall
The thickness of upper water screen tube；
Realize that wireless data is interacted between wireless transmission circuit one and wireless transmission circuit two, the thickness letter of wireless transmission circuit one
Number output end connects the thickness signal input of host computer；
Host computer is included with lower unit：
Initial value recording unit：The thickness signal of the acquisition of wireless transmission circuit one is gathered and recorded in real time, and the thickness signal includes
Thickness signal initial value and thickness signal currency, and thickness signal initial value is sent to demarcation unit, by what is gathered in real time
Thickness signal currency is sent to actual value obtaining unit；
Demarcate unit：The mapping set up using thickness signal initial value and actual (real) thickness set-point between actual (real) thickness and initial value
Model and model parameter, and the mapping model and model parameter are sent to actual value obtaining unit, the actual (real) thickness gives
It is worth to be set in advance；
Actual value obtaining unit：Thickness signal currency is substituted into the mapping model that demarcation unit is obtained, it is thick after being demarcated
Spend signal actual value.
2. utilization mathematical modeling according to claim 1 measures the climbing robot of boiler water wall overlay thickness, its
It is characterised by, it also includes：Preceding probe bracket (1), probe sleeve (2) and rear probe bracket (3)；
Probe bracket (3) is fixed on from wheeling supporting frame (7) afterwards, and preceding probe bracket (1) is fixed on rear probe bracket (3), is visited
Headgear cylinder (2) is fixed on preceding probe bracket (1), and probe sleeve (2) is used for the probe for supporting sonigauge (9).
3. utilization mathematical modeling according to claim 1 measures the climbing robot of boiler water wall overlay thickness, its
Be characterised by, main wheel (18) and from wheel (6) cross section be trapezoidal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510962776.6A CN105644640B (en) | 2015-12-18 | 2015-12-18 | The climbing robot of boiler water wall overlay thickness is measured using mathematical modeling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510962776.6A CN105644640B (en) | 2015-12-18 | 2015-12-18 | The climbing robot of boiler water wall overlay thickness is measured using mathematical modeling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105644640A CN105644640A (en) | 2016-06-08 |
| CN105644640B true CN105644640B (en) | 2017-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510962776.6A Active CN105644640B (en) | 2015-12-18 | 2015-12-18 | The climbing robot of boiler water wall overlay thickness is measured using mathematical modeling |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106949804B (en) * | 2017-05-10 | 2022-11-18 | 舟山市质量技术监督检测研究院 | Device for measuring capacity of vertical metal can |
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| US7155307B2 (en) * | 2001-09-09 | 2006-12-26 | Seemann Henry R | Surface adhering tool carrying robot |
| CN103267281A (en) * | 2013-06-03 | 2013-08-28 | 哈尔滨科能熔敷科技有限公司 | Deposition robot and deposition method for water-cooled wall of fluidized bed boiler |
| CN103276392A (en) * | 2013-06-03 | 2013-09-04 | 哈尔滨科能熔敷科技有限公司 | Cladding device for water-cooling wall of circulating fluidized bed boiler |
| CN103673939A (en) * | 2013-12-19 | 2014-03-26 | 集美大学 | Device for measuring thickness of ship plate |
| CN104071249A (en) * | 2014-07-11 | 2014-10-01 | 哈尔滨工业大学（威海） | Double-caterpillar-band wall-climbing monitoring robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06297006A (en) * | 1993-04-14 | 1994-10-25 | Nippon Steel Corp | Wide flange shape high in dimensional accuracy and its manufacture and manufacturing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2103162A (en) * | 1981-07-17 | 1983-02-16 | Mitsui Shipbuilding Eng | Apparatus moving on wall |
| US7155307B2 (en) * | 2001-09-09 | 2006-12-26 | Seemann Henry R | Surface adhering tool carrying robot |
| CN103267281A (en) * | 2013-06-03 | 2013-08-28 | 哈尔滨科能熔敷科技有限公司 | Deposition robot and deposition method for water-cooled wall of fluidized bed boiler |
| CN103276392A (en) * | 2013-06-03 | 2013-09-04 | 哈尔滨科能熔敷科技有限公司 | Cladding device for water-cooling wall of circulating fluidized bed boiler |
| CN103673939A (en) * | 2013-12-19 | 2014-03-26 | 集美大学 | Device for measuring thickness of ship plate |
| CN104071249A (en) * | 2014-07-11 | 2014-10-01 | 哈尔滨工业大学（威海） | Double-caterpillar-band wall-climbing monitoring robot |
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| CN105644640A (en) | 2016-06-08 |
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Address after: No.1, 4th floor, unit 1, Longyue building, Hongqi Street, Nangang concentration District, Harbin Economic Development Zone, Heilongjiang Province Patentee after: Harbin Keneng Cladding Technology Co., Ltd Address before: 150040 Heilongjiang province Harbin city Xiangfang province music pine square Patentee before: HARBIN KENENG CLADDING TECHNOLOGY Co.,Ltd. |
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Denomination of invention: Wall climbing robot for measuring cladding thickness of boiler water wall by mathematical modeling Effective date of registration: 20201228 Granted publication date: 20171020 Pledgee: Harbin Kechuang Financing Guarantee Co., Ltd Pledgor: Harbin Keneng Cladding Technology Co., Ltd Registration number: Y2020230000021 |
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Date of cancellation: 20211124 Granted publication date: 20171020 Pledgee: Harbin Kechuang Financing Guarantee Co., Ltd Pledgor: Harbin Keneng Cladding Technology Co., Ltd Registration number: Y2020230000021 |
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