大型冷凝设备水下智能清洗机器人的研制  

Development of Underwater Intelligent Cleaning Robot for Large Condenser

作　　者：朱江[1] 王耀南[1] 余洪山[1] 许海霞[1] 刘理[1] 

机构地区：[1]湖南大学,长沙410082

出　　处：《中国机械工程》2010年第15期1830-1835,共6页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(60775047;60835004);国家863高技术研究发展计划资助项目(2008AA04Z214);国家科技支撑计划资助项目(2008BAF36B01);高等学校博士学科点专项科研基金资助项目(200805321020)

摘　　要：针对电厂120MW以上容量机组的大型冷凝设备污垢在线清洗,研发了一种清洗机器人。根据冷凝水室的工作环境,对机器人的行走机构、供水管道和机械臂的传动机构作了针对性设计,并研制了样机。采用基于视觉伺服的方法,实现了冷凝管口的自主定位控制。经实验测试,机器人的性能指标基本满足大型冷凝设备清洗自动化的需求,可推广应用于电力、化工、制药等行业,对促进大规模安全生产、节能降耗有重大的意义。Aiming at online efficient cleaning for condensers used in units whose power capacities are above 120MW , a underwater intelligent cleaning robot was proposed. Based on the working environment of the condensers, the robot system structure was designed, which consisted of traveling mechanism, the pipe for water supply and wire, and drive mechanism for robotic arm. Then the physical prototype was developed. Visual serving arithmetic was adopted to achieve the automotive localization condenser tube control. The experimental results demonstrate that the robot can approximately satisfy the basic requirements of automatically cleaning condenser. It can also be widely applied in many fields such as power industry, chemical plant, pharmacy, etc. Besides, it has great effect on promoting large-scale and safe production, energy saving as well as consumption reduction.

关 键 词：冷凝器污垢 清洗机器人 机构 水下 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]