Structure Design And Analysis Of Superheater Pipeline Crawling Detection Robot

As an important part of thermal power plant,the safe working of boiler directly determines the normal working of the whole thermal power plant.With the increase of social electricity consumption,there are more and more problems in boiler pipeline.The main reason is the leakage of superheater and reheater pipes,so the detection of superheater and reheater pipes is very important.At present,the pipeline is mostly detected manually,which is inefficient and dangerous.This paper proposals a new overall design scheme of pipe crawling detection robot by summarizing the shortcomings and development trend of existing pipe climbing robots at home and abroad,and combining with the spatial structure and detection requirements of superheater pipes.The robot has the ability of straight pipe crawling,elbow crawling and obstacle climbing,and can detect the outer surface of the pipeline by detection equipment.The main work as follows:By reading a lot of literature,this paper analyzes the research status of the crawling robot outside the pipeline,summarizes the shortcomings and development trend of existing crawling robot outside the pipeline,and determines the main research content and method route of this paper.The spatial structure and detection requirements of superheater pipeline in thermal power plant are analyzed,and the overall design scheme of the crawling detection robot outside the pipeline is determined.Each module of the robot is designed in detail,and the calculation and selection of motor and related parts are carried out.The motion performance and clamping performance of the robot are analyzed.The virtual prototype of the robot is established in ADAMS software,the motion performance and dynamic performance of the pipe climbing robot in different action processes are analyzed to verify the feasibility of the overall scheme.The clamping performance of the clamping jaw is analyzed,and the force sealing of the clamping jaw is proved.The minimum value of clamping force under a given load is solved,and the influencing factors of the minimum value of clamping force are analyzed.Analyze the clamping failure of clamping claw and put forward solutions.The finite element analysis and optimization design of the robot structure are carried out.The static analysis of the key parts in the robot structure,such as the main connecting beam,the upper rotating joint connecting flange and the upper clamping claw,is carried out to check its bearing capacity.The modal analysis of the climbing part of the robot body and the telescopic arm detection mechanism is carried out to understand its natural frequency and vibration characteristics.The response surface method and topology optimization are used to design the main connecting beam and the rotating joint connecting flange.Making the experimental prototype,including the assembly of mechanical mechanism and the construction of control system.The robot linear sliding module,rotating joint module,jaw module and telescopic rod module are tested,and the straight pipe crawling performance of the robot is tested,and the results are analyzed and evaluated,which lays a foundation for the overall prototype experiment and practical application.