多功能水冷壁排管爬壁机器人的研制

介绍了一种新研制开发的永磁吸附式双履带结构爬壁机器人，主要应用于火力发电站的大型排管锅炉中的水冷壁排管壁面的清扫和检测，并能够在检测到壁面厚度小于预置的极限值处发出报警信号、打标记，具有较高的推广应用价值。文中阐述了该机器人的结构、磁路的优化设计、自动测厚、打标系统和控制系统的研制。目前，该机器人已经经过多次现场试验。各项指标均已达到设计要求。

Wall-Climbing Robot for Water-Cooling Tube with Multiple Functions

A wall climbing robot which is newly applied to the field of the fire power plant is introduced.The robot can undertake the dangerous work of sweeping and inspecting water cooling tubes. When the minimum thickness of the tube lower than the prefabricating value is inspected, an alarm is given and a sign is spraged on the tube. It has many advantages,such as high efficiency and safety, low cost, less work intension etc., so it is worth generalizing. The mechanical structure, the magnetic circuit design, the auto thickness measurement and the control system of the robot are described in detail. Up to the present, it undergoes many experiments, and shows that it fulfils design requests.