CN203838115U - Ultrasonic flaw detection wheel driving robot - Google Patents
Ultrasonic flaw detection wheel driving robot Download PDFInfo
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- CN203838115U CN203838115U CN201420191405.3U CN201420191405U CN203838115U CN 203838115 U CN203838115 U CN 203838115U CN 201420191405 U CN201420191405 U CN 201420191405U CN 203838115 U CN203838115 U CN 203838115U
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Abstract
The utility model discloses an ultrasonic flaw detection wheel driving robot. The ultrasonic flaw detection wheel driving robot comprises a walking mechanism, a detection execution mechanism and a coupling agent coating mechanism. The walking mechanism comprises a machine frame and walking wheels installed at the bottom of the machine frame. The detection execution mechanism comprises a detection execution part and a guide part for driving the detection execution part to do linear and reciprocating movement, wherein the detection execution part is located at the left side of the guide part and comprises an ultrasonic probe, an ultrasonic probe clamping part, a rotation motor driving the ultrasonic probe to rotate and a lifting driving structure driving the ultrasonic probe, the ultrasonic probe clamping part and the rotation motor to wholly ascend or descend, and the lifting driving structure is connected with the guide part. The coupling agent coating mechanism comprises a coupling agent container, a gear pump and a coupling agent brush, and the coupling agent container, the gear pump and the coupling agent brush are sequentially connected through coupling agent conveying pipes. The ultrasonic flaw detection wheel driving robot is low in cost, easy to machine and manufacture, and capable of improving work efficiency and detection accuracy and relieving labor intensity.
Description
Technical Field
The utility model belongs to the ultrasonic inspection auxiliary device field especially relates to an ultrasonic inspection wheel drive robot.
Background
Ultrasonic flaw detection is often used as one of nondestructive testing methods in the manufacturing process of equipment such as pressure vessels, shipbuilding, boilers and the like because of its advantages of good directivity, relatively high strength and penetration capability, capability of generating reflection, refraction and waveform conversion on the interface of two propagation media, no harm to human bodies and the like.
The main operation steps of the existing ultrasonic flaw detection mainly comprise cleaning, couplant brushing, flaw detection, flaw position and shape determination and the like besides preparation work such as flaw detection requirement determination, flaw detector adjustment and the like. Wherein, tools such as steel brushes and the like are adopted in the cleaning process to clean iron chips, welding slag, dust and other dirt at the position to be detected and around; in the process of brushing the couplant, the couplant is usually made of thin paste made of special flour, engine oil and the like, the operator brushes the couplant on a position to be detected, and the manual ultrasonic flaw detection method adopts a section-brushing couplant and a section-detecting method; in the ultrasonic detection process, according to the principle of ultrasonic detection and the national standard requirement, the oblique probe is placed on a detection surface perpendicular to the central line of a welding seam to perform zigzag scanning, the forward and backward movement range of the probe is ensured to scan the cross sections of all welding seam joints, and the probe is rotated at an angle of 10-15 degrees left and right while the forward and backward movement of the vertical welding seam of the probe is maintained; in the process of judging the shape of the defect, if the position of the defect is found in the detection process, the detection is stopped, and the position and the type of the defect are judged through front-back, left-right rotation and surrounding rotation and recorded.
The defects of low working efficiency, influence on subsequent working progress, high labor intensity and the like in the ultrasonic flaw detection by adopting the manual method are explained by using a pressure container: the working efficiency is low, due to the circular characteristic of the pressure container barrel, the couplant brushing and detection are not facilitated at the top and the position near the top, the detection is generally carried out at 120 degrees in a single time, then the pressure container is rotated at 120 degrees through a special tool, and then the detection is carried out, three times of detection are needed to finish the detection of one barrel section of the pressure container, the labor intensity is high, and the working efficiency is very low; the subsequent working schedule is influenced, the manufacturing process of the pressure container generally comprises welding, repairing, welding accessories, pressure tests, painting and the like can be carried out after detection, other works must be stopped during ultrasonic detection, and the manufacturing speed of the pressure container is seriously influenced by the low efficiency of the ultrasonic detection; the precision is low, the national standard has definite requirements on the maximum moving speed and the zigzag moving distance of the probe, and the standard requirements are difficult to reach due to the influence requirements on the fertilization force concentration degree, the operation care degree, the fatigue degree of detection personnel and the like, so that the actual detection result is influenced; the ultrasonic flaw detection of the pressure container generally needs at least two operators, one operator brushes the couplant, the other one detects, when the pressure container is rotated, one operator needs to operate outside, the other operator observes the rotation angle, the probe is held by a hand for a long time, and the labor intensity of the detector is higher due to the fact that the probe is held in a fixed posture and uniform pressing force.
It will thus be seen that the prior art is susceptible to further improvements and enhancements.
SUMMERY OF THE UTILITY MODEL
The utility model discloses an avoid the weak point that above-mentioned prior art exists, provide an ultrasonic inspection wheel drive robot, this robot can assist manual operation, accomplishes the task of detecting a flaw, is favorable to improving work efficiency and reduces intensity of labour.
The utility model discloses the technical scheme who adopts does:
an ultrasonic flaw detection wheel driving robot comprises a traveling mechanism, a detection executing mechanism and a couplant brushing mechanism, wherein the traveling mechanism comprises a rack and traveling wheels arranged at the bottom of the rack, the detection executing mechanism is positioned on the left side of the rack and comprises a detection executing part and a guide part for driving the detection executing part to perform linear reciprocating motion, the detection executing part is positioned on the left side of the guide part, the detection executing part comprises an ultrasonic probe, an ultrasonic probe clamping piece, a rotating motor for driving the ultrasonic probe to rotate and a lifting driving structure for driving the ultrasonic probe, the ultrasonic probe clamping piece and the rotating motor to integrally ascend or descend, the lifting driving structure is connected with the guide part, the couplant brushing mechanism comprises a couplant container, a gear pump and a couplant brush which are sequentially connected through a couplant conveying pipeline, the couplant container is arranged on the upper right side of the top of the rack, the gear pump is installed at the top of the frame, and the couplant brush is located in front of the ultrasonic probe.
The guide part comprises a linear slide rail, a synchronous belt sleeved on the linear slide rail, a sliding block arranged on the synchronous belt and a stepping motor driving the synchronous belt to run.
The lifting driving structure comprises a linear motor arranged on the sliding block, and a motor shaft of the linear motor faces downwards.
The detection executing part further comprises a rotating motor positioning frame used for installing a rotating motor, the rotating motor positioning frame comprises an upper support and a lower support, a through groove for the rotating motor to pass through is formed in the upper support, the rotating motor is fixedly connected with the lower support, a motor shaft of the rotating motor faces downwards, the linear motor is located on one side of the rotating motor, a machine body of the linear motor is fixedly connected with the upper support, and the motor shaft of the linear motor is connected with the lower support.
The rotary motor positioning frame is also provided with a rotary motor lifting guide rod, the rotary motor lifting guide rod and the linear motor are respectively positioned at two sides of the rotary motor, the lower end of the rotary motor lifting guide rod is fixedly connected with the lower support, and the upper end of the rotary motor lifting guide rod can move up and down along the upper support.
The motor shaft of the rotating motor is connected with the ultrasonic probe clamping piece through a rotating shaft, the upper portion of the rotating shaft is fixedly connected with the lower support, the lower portion of the rotating shaft is connected with the ultrasonic probe clamping piece, and a compression spring is arranged between the lower portion of the rotating shaft and the ultrasonic probe clamping piece.
The top of the ultrasonic probe clamping piece is provided with a shifting fork-shaped connecting plate, and the ultrasonic probe is hinged at the fork opening of the shifting fork-shaped connecting plate through a transverse shaft.
The four traveling wheels are respectively a left front traveling wheel, a left rear traveling wheel, a right front traveling wheel and a right rear traveling wheel, wherein the left front traveling wheel and the right rear traveling wheel are driving wheels, the left rear traveling wheel and the right front traveling wheel are driven wheels, or the left front traveling wheel and the right rear traveling wheel are driven wheels, the left rear traveling wheel and the right front traveling wheel are driving wheels, and the two driving wheels are respectively driven by a first driving motor and a second driving motor; the first driving motor and the second driving motor are respectively arranged at the bottom of the frame through motor positioning plates, and the first driving motor and the second driving motor are respectively connected with a wheel shaft of a driving wheel driven by the first driving motor and the second driving motor through a shaft coupling.
A first guide sleeve is arranged at the contact position of a motor shaft of the linear motor and the lower support, and a second guide sleeve is arranged at the contact position of the lifting guide rod of the rotating motor and the upper support.
The left side top of frame links firmly the riser that is used for installing the guide part, and the right side top of frame links firmly the backup pad that is used for installing the couplant container, and this backup pad is the L type of invering, and the drive control case that controls above-mentioned running gear, detection actuating mechanism, couplant brush mechanism and lift drive structure is still installed at the left side top of frame.
Since the technical scheme is used, the utility model discloses the beneficial effect that can obtain is:
1. the utility model discloses can reduce intensity of labour, the utility model discloses will apply paint with a brush the couplant and probe centre gripping etc. heavy work content and accomplish by its self, cooperate the rotation pressure container simultaneously and can accomplish the detection, greatly reduced measurement personnel's intensity of labour.
2. The utility model can improve the working efficiency, when ultrasonic flaw detection is carried out, the detection personnel only need to operate in the pressure container, and the couplant does not need to be manually coated, thereby greatly improving the detection efficiency; along with the improvement of the detection efficiency, the whole processing production efficiency can be accelerated, and the phenomenon of error work caused by low detection efficiency is reduced.
3. The utility model discloses can improve and detect the precision, the utility model discloses enable to have between ultrasonic transducer and the pressure vessel wall relatively suitable and stable packing force, avoid because the uneven phenomenon of pressure and direction that human factors such as tired, tension of measurement personnel caused.
4. The utility model discloses simple structure, the cost of manufacture is lower, easily manufacturing, and control is simple and easy convenient, and the accuracy is higher, is applied to actual production, can improve ultrasonic inspection's economic benefits greatly.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a left side view of the present invention.
Fig. 3 is a top view of the present invention.
Wherein,
1. the traveling mechanism 101, a frame 102, a left front traveling wheel 103, a right front traveling wheel 104, a left rear traveling wheel 105, a right rear traveling wheel 106, a vertical plate 107, a support plate 108, a control box positioning plate 109, a first driving motor 110, a motor positioning plate 111, a coupler 112, a clamping plate 2, a guide part 201, a stepping motor 202, a synchronous belt 203, a linear slide rail 204, a slider 3, a detection execution part 301, a linear motor 302, a motor shaft 303 of the linear motor, a first guide sleeve 304, a linear motor positioning frame 305, a rotary motor 306, an upper bracket 307, a lower bracket 308, a rotary motor lifting guide 309, a second guide sleeve 310, a rotary shaft 311, a compression spring 312, an ultrasonic probe clamp positioning plate 313, a shift fork-shaped connecting plate 314, an ultrasonic probe clamp 315, an ultrasonic probe 316, a guide rail, support frame 4, couplant coating mechanism 401, couplant container 402, couplant conveying pipeline 403, gear pump 404, couplant brush 5 and drive control box
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific embodiments, but the present invention is not limited to these embodiments.
As shown in fig. 1 to 3, the ultrasonic flaw detection wheel driving robot includes a traveling mechanism 1, a detection actuator, and a couplant application mechanism 4.
As shown in fig. 2 and 3, the traveling mechanism includes a frame 101 and four traveling wheels installed at the bottom of the frame 101, which are respectively a left front traveling wheel 102, a left rear traveling wheel 104, a right front traveling wheel 103 and a right rear traveling wheel 105, wherein, the left front traveling wheel 102 and the right rear traveling wheel 105 are driving wheels, the left rear traveling wheel 104 and the right front traveling wheel 103 are driven wheels, or the left front road wheel 102 and the right rear road wheel 105 are driven wheels, and the left rear road wheel 104 and the right front road wheel 103 are driving wheels, that is, two of the four road wheels are driving wheels, the other two are driven wheels, one of the two driving wheels is positioned at the front side of the bottom of the frame 101, the other driving wheel is positioned at the rear side of the bottom of the frame 101, the two driving wheels need to be simultaneously positioned on the left side of the bottom of the rack 101, the other driving wheel is positioned on the right side of the bottom of the rack 101, and the two driving wheels are respectively driven by a first driving motor 109 and a second driving motor; first, second driving motor installs in frame 101 bottom through motor positioning board 110 respectively, and first, second driving motor links to each other with the shaft of the action wheel by its driven through shaft coupling 111 respectively, follows the rotation of action wheel and rotates, and independent action or cooperation through first, second driving motor among running gear 1 move or the action can make the utility model discloses make and advance, retreat or turn the action such as.
As shown in fig. 1 to 3, the detection actuator is located at the left side of the frame 101 and includes a detection actuator 3 and a guide part 2 for driving the detection actuator 3 to perform a linear reciprocating motion; the guide part 2 comprises a linear slide rail 203, a synchronous belt 202 sleeved on the linear slide rail 203, a slide block 204 arranged on the synchronous belt 202 and a stepping motor 201 for driving the synchronous belt 202 to run; the detection execution part 3 is positioned on the left side of the guide part 2, the detection execution part 3 comprises an ultrasonic probe 315, an ultrasonic probe clamping piece 314, a rotating motor 305 driving the ultrasonic probe 315 to rotate and a lifting driving structure driving the ultrasonic probe 315, the ultrasonic probe clamping piece 314 and the rotating motor 305 to integrally ascend or descend, a shifting fork-shaped connecting plate 313 is arranged at the top of the ultrasonic probe clamping piece 314, and the ultrasonic probe 315 is hinged at a fork of the shifting fork-shaped connecting plate 313 through a transverse shaft, so that the automatic leveling of the ultrasonic probe 315 can be realized, and the rotation requirements of the probe on small amplitude of front-back and left-right sides can be met conveniently when the girth weld of the pressure container is detected; the lifting driving structure comprises a linear motor 301, the linear motor 301 is arranged on the sliding block 204 through a linear motor positioning frame 304, the detection execution part is driven to carry out overall left-right reciprocating motion through the reciprocating motion of the sliding block 204, and a motor shaft 302 of the linear motor faces downwards; the detection executing part 3 further comprises a rotating motor positioning frame for mounting the rotating motor 305, the rotating motor positioning frame comprises an upper bracket 306 and a lower bracket 307, a through groove for the rotating motor 305 to pass through is formed in the upper bracket 306, the rotating motor 305 is fixedly connected with the lower bracket 307, a motor shaft of the rotating motor 305 faces downwards, the linear motor 301 is positioned on one side of the rotating motor 305, a body of the linear motor 301 is fixedly connected with the upper bracket 306, and the motor shaft 302 of the linear motor is connected with the lower bracket 307; a rotating motor lifting guide rod 308 is further mounted on the rotating motor positioning frame, the rotating motor lifting guide rod 308 and the linear motor 301 are respectively located on two sides of the rotating motor 305, the lower end of the rotating motor lifting guide rod 308 is fixedly connected with the lower bracket 307, and the upper end of the rotating motor lifting guide rod can move up and down along the upper bracket 306; a first guide sleeve 303 is arranged at the contact position of a motor shaft 302 of the linear motor and a lower bracket 307, a second guide sleeve 309 is arranged at the contact position of a rotary motor lifting guide rod 308 and an upper bracket 306, the linear motor 301 drives the lower bracket 307 to reciprocate up and down through the first guide sleeve 303, and the rotary motor lifting guide rod 308 plays a role in guiding through the second guide sleeve 309, so that the integral position of the rotary motor 305 and the ultrasonic probe clamping piece is lifted or lowered; a motor shaft of the rotating motor 305 is connected to the ultrasonic probe holder 314 through a rotating shaft 310, an upper portion of the rotating shaft 310 is fixedly connected to the lower bracket 307 through a bushing, a lower portion of the rotating shaft 310 is connected to the ultrasonic probe holder 314, and a compression spring 311 is provided therebetween.
The utility model provides a reciprocating of ultrasonic probe holder 314 etc. is realized through linear electric motor 301's drive to the detection execution part to accessible compression spring 311 controls the final atress of ultrasonic probe 315 and changes at the within range of regulation, maintains the atress between ultrasonic probe 315 and the pressure vessel wall the utility model discloses before the beginning work and after the work, promote ultrasonic probe 315 with ultrasonic probe 314 and centre gripping through linear electric motor 301, avoided wearing and tearing to ultrasonic probe 315 unnecessary, adopt rotating electrical machines 305 drive ultrasonic probe 315 to rotate, can accomplish the rotation action when normally detecting and judging the defect shape.
As shown in fig. 1 and 3, the couplant brushing mechanism 4 includes a couplant container 401, a gear pump 403 and a couplant brush 404 which are connected in sequence by a couplant delivery pipe 402, the couplant container 401 is installed at the upper right of the top of the machine frame 101, the gear pump 403 is installed at the top of the machine frame 101, an ultrasonic probe holder positioning plate 312 is installed above the ultrasonic probe holder 314, the ultrasonic probe holder positioning plate 312 is installed on a support frame 316 at the lower part of the rotating shaft 310, the ultrasonic probe holder positioning plate 312 is L-shaped, the couplant brush 404 is installed on the ultrasonic probe holder positioning plate 312, the couplant brush 404 is positioned in front of the ultrasonic probe 315, the couplant brush 404 is brushed with the couplant at the front, and the ultrasonic probe 315 performs flaw detection immediately thereafter.
As shown in fig. 1 and 3, a vertical plate 106 for installing the guide part 2 is fixedly connected to the top of the left side of the frame 101, a supporting plate 107 for installing a couplant container 401 is fixedly connected to the top of the right side of the frame 101, the supporting plate 107 is in an inverted L shape, the couplant container 401 is installed and positioned on the supporting plate 107 through clamping plates 112 located on the front side and the rear side of the supporting plate 107, a driving control box 5 for controlling the traveling mechanism 1, the detection executing mechanism, the couplant painting mechanism 4 and the lifting driving structure is further installed on the top of the left side of the frame 101, the driving control box 5 is used for clamping and positioning the traveling mechanism 1, the detection executing mechanism, the couplant painting mechanism 4 and the lifting driving structure through control box positioning plates 108 installed on the front side and the rear side of the top of the frame 101.
The parts not mentioned in the utility model can be realized by adopting or using the prior art for reference.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of 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.
Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Although terms such as the traveling mechanism 1, the frame 101, the riser 106, the control box positioning plate 108, the guide portion 2, the timing belt 202, the detection executing portion 3, the linear motor 301, the upper bracket 306, the second guide sleeve 309, the fork-like coupling plate 313, the couplant applying mechanism 4, the gear pump 403, the couplant brush 404, and the like are used more frequently herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed in a manner that is inconsistent with the spirit of the invention.
It is further understood that the specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (10)
1. Ultrasonic inspection wheel drive robot, its characterized in that: the device comprises a travelling mechanism, a detection executing mechanism and a couplant brushing mechanism, wherein the travelling mechanism comprises a rack and travelling wheels arranged at the bottom of the rack, the detection executing mechanism is positioned on the left side of the rack and comprises a detection executing part and a guide part for driving the detection executing part to do linear reciprocating motion, the detection executing part is positioned on the left side of the guide part, the detection executing part comprises an ultrasonic probe, an ultrasonic probe clamping piece, a rotating motor for driving the ultrasonic probe to rotate and a lifting driving structure for driving the ultrasonic probe, the ultrasonic probe clamping piece and the rotating motor to integrally ascend or descend, the lifting driving structure is connected with the guide part, the couplant brushing mechanism comprises a couplant container, a gear pump and a couplant brush which are sequentially connected through a couplant conveying pipeline, the couplant container is arranged on the upper right side of the top of the rack, the gear pump is arranged, the couplant brush is located in front of the ultrasonic probe.
2. The ultrasonic flaw detection wheel drive robot according to claim 1, characterized in that: the guide part comprises a linear slide rail, a synchronous belt sleeved on the linear slide rail, a sliding block arranged on the synchronous belt and a stepping motor driving the synchronous belt to run.
3. The ultrasonic flaw detection wheel drive robot according to claim 2, characterized in that: the lifting driving structure comprises a linear motor arranged on the sliding block, and a motor shaft of the linear motor faces downwards.
4. The ultrasonic flaw detection wheel drive robot according to claim 3, characterized in that: the detection executing part further comprises a rotating motor positioning frame used for installing a rotating motor, the rotating motor positioning frame comprises an upper support and a lower support, a through groove for the rotating motor to pass through is formed in the upper support, the rotating motor is fixedly connected with the lower support, a motor shaft of the rotating motor faces downwards, the linear motor is located on one side of the rotating motor, a machine body of the linear motor is fixedly connected with the upper support, and the motor shaft of the linear motor is connected with the lower support.
5. The ultrasonic flaw detection wheel drive robot according to claim 4, characterized in that: the rotary motor positioning frame is also provided with a rotary motor lifting guide rod, the rotary motor lifting guide rod and the linear motor are respectively positioned at two sides of the rotary motor, the lower end of the rotary motor lifting guide rod is fixedly connected with the lower support, and the upper end of the rotary motor lifting guide rod can move up and down along the upper support.
6. The ultrasonic flaw detection wheel drive robot according to claim 4, characterized in that: the motor shaft of the rotating motor is connected with the ultrasonic probe clamping piece through a rotating shaft, the upper portion of the rotating shaft is fixedly connected with the lower support, the lower portion of the rotating shaft is connected with the ultrasonic probe clamping piece, and a compression spring is arranged between the lower portion of the rotating shaft and the ultrasonic probe clamping piece.
7. The ultrasonic flaw detection wheel drive robot according to claim 1, characterized in that: the top of the ultrasonic probe clamping piece is provided with a shifting fork-shaped connecting plate, and the ultrasonic probe is hinged at the fork opening of the shifting fork-shaped connecting plate through a transverse shaft.
8. The ultrasonic flaw detection wheel drive robot according to claim 1, characterized in that: the four traveling wheels are respectively a left front traveling wheel, a left rear traveling wheel, a right front traveling wheel and a right rear traveling wheel, wherein the left front traveling wheel and the right rear traveling wheel are driving wheels, the left rear traveling wheel and the right front traveling wheel are driven wheels, or the left front traveling wheel and the right rear traveling wheel are driven wheels, the left rear traveling wheel and the right front traveling wheel are driving wheels, and the two driving wheels are respectively driven by a first driving motor and a second driving motor; the first driving motor and the second driving motor are respectively arranged at the bottom of the frame through motor positioning plates, and the first driving motor and the second driving motor are respectively connected with a wheel shaft of a driving wheel driven by the first driving motor and the second driving motor through a shaft coupling.
9. The ultrasonic flaw detection wheel drive robot according to claim 5, characterized in that: a first guide sleeve is arranged at the contact position of a motor shaft of the linear motor and the lower support, and a second guide sleeve is arranged at the contact position of the lifting guide rod of the rotating motor and the upper support.
10. The ultrasonic flaw detection wheel drive robot according to claim 1, characterized in that: the left side top of frame links firmly the riser that is used for installing the guide part, and the right side top of frame links firmly the backup pad that is used for installing the couplant container, and this backup pad is the L type of invering, and the drive control case that controls above-mentioned running gear, detection actuating mechanism, couplant brush mechanism and lift drive structure is still installed at the left side top of frame.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420191405.3U CN203838115U (en) | 2014-04-18 | 2014-04-18 | Ultrasonic flaw detection wheel driving robot |
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| CN201420191405.3U CN203838115U (en) | 2014-04-18 | 2014-04-18 | Ultrasonic flaw detection wheel driving robot |
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| CN203838115U true CN203838115U (en) | 2014-09-17 |
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| CN201420191405.3U Expired - Fee Related CN203838115U (en) | 2014-04-18 | 2014-04-18 | Ultrasonic flaw detection wheel driving robot |
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