Research On Motion Mechanism And Adhesion Mode Of Climbing Robot For Boiler Tubes

With the continuous development of the economy and cities,the demand of electrical energy is increasing rapidly.In china,around 75% electrical energy comes from thermal power.The key equipment for thermal power transformation is boiler.Fuel is burned in a boiler to heat the water in the surrounding water-cooled wall into water vapor.Water vapor will drive the steam turbine to generate electricity.The boiler water-cooled wall is prone to wear and corrosion during long-term work.Manual inspection,maintenance and cleaning of water-cooled pipes are inefficient and costly.Wall climbing robot will be an ideal alternative way of the cleaning of water-cooled pipes.Based on related researches and references,this article came up with a magnetic adsorption wall-climbing robot of boiler water wall to replace the manual work for boiler cleaning.Focusing on problems of existing wall-climbing robots like insufficient adsorption force,weak load capacity,and poor motion stability,the wall-climbing robot design will provide reliable adsorption,flexible movement,and stable detection.The research contents of this article are:(1)Based on related wall-climbing robot references,researchers came up with a design of wall-climbing robot with permanent magnet adsorption,wheel movement,and motor drive to satisfy the demand of water-cooled wall.Demand analysis and structural design of key components of wall-climbing robot were completed.Finally,a complete three-dimensional result model is established.According to the static state modeling and analysis calculation of the wall-climbing robot’s adsorption state on the wall surface,get the minimum adsorption force required by the wall-climbing robot to be adsorbed on the wall surface.(2)According to the theory of electromagnetic field,the basic structure of the wallclimbing robot adsorption device is designed.With ANSYS software,the finite element simulation of the permanent magnet adsorption device was carried out.The distribution rule of the magnetic field lines between the permanent magnet adsorption device and the water-cooled pipe wall was acquired,as well as the conclusion that the adsorption force is the smallest at the upper limit position of the tube.(3)The finite element simulations of the relationship between magnet adsorption force and the size of the air gap of the adsorption device,the thickness of the yoke,the different shapes and sizes of the permanent magnets,and the direction of magnetization were done.The relationship curves between each parameter and the adsorption force were also drawn.Researchers introduced the concept of magnetic mass ratio(the ratio of adsorption force to mass).Researchers simultaneously solved each parameter and the quality of the wall-climbing robot and draw the efficiency curve between each parameter and the adsorption force.The original initial parameters have been optimized to improve the adsorption efficiency of the permanent magnet adsorption mechanism.(4)After the prototype of the wall-climbing robot was manufactured,a variety of tests were carried out on the adsorption performance,motion performance,and obstaclecrossing performance of the wall-climbing robot to verify the stable work of wallclimbing robot.The wall-climbing robot’s movement and obstacle-crossing performance under actual working conditions are verified to ensure stability in actual work in the future.