| To shorten repair procedure, reduce maintenance cost, and improve overhaulingquality, on-site repair of hydraulic turbine blade has an immediate need of automation.To meet demands mentioned, key techniques are studied for wall climbing robot(WCR) to repair the hydraulic turbine blade, and the prototype of WCR ismanufactured to test its performance.According to steering power consumption compare the results to determine thewall-climbing robots with pure rolling the steering wheel differential drive mobileagencies, combined with the many-body coupled planar gap adsorption system loadand sports performance than traditional permanent magnet adsorption ofwall-climbing machine significantly improved to achieve a reliable adsorption underthe premise of situ low-power flexible steering.Analysis, design of the turbine blade pit repair with wall-climbing robot mobileplatform based on the static operation and dynamic operation of the mobile platform,the prototype test results show that the mobile platform load (including weight) andthe ratio of the absorption edge more than0.25, load capacity, flexible movement lowpower consumption, has the advantage of the complex space surface adaptability.Permanent adsorption system of the mobile platform established dimensionalfinite element numerical model of the adsorption system, to optimize the size of theparameters of the adsorption system, the use of beta magnetic structure to the designof adsorption of the adsorption system of the mobile platform deviceCombined with manipulator and related repairing tools, an automatic hydraulicturbine blade in-situ repair system is then constructed utilizing above researchachievements. The works of this dissertation will bring convenience and benefit forfurther investigations in the aspect of automation of turbine blade on-site repair. |
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