一种用于电站清扫的新型移动机器人的研制  

A Novel Mobile Robot for Power Plant Cleaning

作　　者：沈为民[1] 王炎[1] 赵言正[1] 潘佩霖[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《南京理工大学学报》2001年第1期53-56,共4页Journal of Nanjing University of Science and Technology

基　　金：国家 8 63计划资助项目(项目号! 863- 51 2 - 980 4 - 1 2 )

摘　　要：火力发电站大型排管锅炉的水冷壁排管壁面清扫和检测一直是一项繁重、复杂和危险的体力劳动。现研制出一种新型移动机器人———水冷壁清扫检测爬壁机器人 ,采用独特的抗倾覆双履带结构、特殊的磁路设计和开放式控制系统。该机器人可实现电站锅炉水冷壁排管壁面的清扫和壁面厚度检测 ,自动化程度高 ,工作效率和安全可靠性远远高于手工作业 ,具有较高的推广应用价值。该机器人已通过多次现场测验 。The cleaning of water cooling tubes in power plants is always an onerous,complex and dangerous job for human beings.To accomplish automation of the cleaning and inspecting work,a novel mobile robot was designed to clean and inspect the water cooling tubes in power plants.The robot can work in a more efficient and more reliable way than workers.In this paper,the wall climbing robot is presented in detail,including design of carrier architecture,design of magnetic circuits,and design of the robot's control system.The robot has been tested for several times,with its performance satisfying most design requirements.

关 键 词：机器人 控制系统 自动化 爬壁结构 水冷壁清扫 磁路设计 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]