Design And Experimental Study Of Boiler Water Wall Detection Robot

Thermal power generation is the most important way of generating electricity in China.Among the reasons for unplanned shutdowns in thermal power plants,boiler accidents accounted for more than 70%,and half of the accidents were caused by rupture of boiler tubes.Therefore,regular inspection of the boiler water wall tube is critical to the safe operation of the unit.At present,domestic thermal power plants generally adopt the method of manually detecting the thickness of water wall,which is not efficient,and will interrupt the continuous production of the enterprise,reduce the production efficiency,and bring huge economic losses to the enterprise.The development of wall-climbing robot technology provides a new technical direction for the automation and high efficiency of water wall testing.However,the wall-climbing robots that have been developed at home and abroad cannot be applied to the detection of water-cooled wall surfaces with anti-wear beam structures.The anti-wear beam structure is widely used in domestic circulating fluidized bed boilers.Therefore,it is necessary to design a wall-climbing robot that can overcome the obstacle structure as a carrier for the water-cooled wall detecting sensor.In this thesis,describe a design scheme of a wall-obstacle-blocking robot based on permanent magnet adsorption is proposed for the anti-wear beam structure.The following specific work is carried out:(1)According to the actual working conditions of the robot,the design of the wallclimbing robot is carried out.On the basis of the traditional wall-climbing robot,the wall-blocking function and the movement between the walls are increased.Introduce a multi-index comprehensive evaluation method,comprehensively evaluate the designed robot scheme,and verify the scientific of the design process.(2)According to the working environment and functional requirements of the robot,the adsorption force of the designed wall-obstacle-moving robot on the wall surface is analyzed and checked,and the movement of the robot on the wall surface is analyzed,and the obstacle movement and the movement between the walls are analyzed.Analyze and verify to ensure reliable operation of the robot on the wall.(3)Designed the drive control scheme of the wall-climbing robot,using Arduino as a slave machine,using the Raspberry dispatch server to respond to external requests through the server,calling the Arduino slave machine to send drive commands to the motor,so that the robot can respond to the customer.Request and generate actions.At the same time,two control interfaces are provided on the webpage and the desktop to adapt to the operation requirements of different clients.(4)The prototype of the designed robot is trial-manufactured,assembled and debugged,and the robot is controlled according to the gait sequence required for obstacle crossing by using the wireless control platform designed above,so as to check its movement capability between the obstacle crossing of the wear-resistant beam and the pipe wall.The feasibility of the robot's structural design and control scheme is verified.