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Multifunctional robot to maintain boiler water-cooling tubes

Published online by Cambridge University Press:  23 February 2009

Xueshan Gao ,
Dianguo Xu ,
Yan Wang ,
Huanhuan Pan  and
Weimin Shen
Xueshan Gao*
Affiliation:
Intelligent Robotics Institute, Beijing Institute of Technology, 5 Zhongguancun Nandajie, Haidian District Beijing 100081, P. R. China
Dianguo Xu
Affiliation:
Robotics Institute, Harbin Institute of Technology, 92 Dazhi Street, Harbin 150001, P. R. China
Yan Wang
Affiliation:
Robotics Institute, Harbin Institute of Technology, 92 Dazhi Street, Harbin 150001, P. R. China
Huanhuan Pan
Affiliation:
Robotics Institute, Harbin Institute of Technology, 92 Dazhi Street, Harbin 150001, P. R. China
Weimin Shen
Affiliation:
Robotics Institute, Harbin Institute of Technology, 92 Dazhi Street, Harbin 150001, P. R. China
*
*Corresponding author. E-mail: xueshan.gao@bit.edu.cn
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Summary

A robot has been developed to maintain boiler water-cooling tubes. This robot has a double tracked moving mechanism, an ash cleaning device, a slag purging device, a tubes' thickness measurement device, a marking device, and a control system. This robot can climb up and down the tube wall. A method for the robot to complete many tasks for boiler maintenance in one process cycle is presented. The mechanism of the robot is described. Especially, a kind of special magnetic block structure is designed to obtain strong adhering force using permanent magnets. Experiments in laboratory and real thermal power station have verified that the robot cannot only climb on the surface of the tube wall smoothly, but also take heavy payloads for boiler maintenance operation.

Keywords

Mobile robotClimbing robotBoiler water-cooling tubeBoiler maintenance
Type
Article
Information
Robotica , Volume 27 , Issue 6 , October 2009 , pp. 941 - 948
Copyright
Copyright © Cambridge University Press 2009

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