Research On Key Technologies Of Anti-Overturning Wall-Climbing Robot For Water Wall Surface Detection

Boiler unit is the core equipment of thermal power generation process,and water wall is one of the key factors affecting the efficiency and safety of thermal power generation.In the process of boiler operation,the ash produced by combustion will be attached to the water-cooled pipe to form coking,resulting in local heat absorption reduced,circulation velocity decreased or even stagnated,which is easy to cause water wall tube burst accident.At present,the maintenance of the water wall pipeline is mostly manual operation,but the light in the pipeline is dim,the dust is heavy,and the pipeline maintenance belongs to high-altitude operation,so there is the risk of high-altitude falling objects injuring and falling from high altitude.Because of its advantages such as low difficulty of control,can carry testing institutions,strong adaptability to complex wall,omni-directional movement and so on,tracked magnetic wall climbing robot is often used as a mobile platform for all kinds of wall detection and cleaning equipment.it brings a new opportunity of reform and innovation to the important work of boiler maintenance.Although some achievements have been made in the development of wall-climbing robot,due to the influence of track characteristics,it faces the following difficult problem:(1)Poor moving accuracy.In the process of moving forward,the robot has no guiding device,and the deviation correction provided by the control system has a certain delay,so the deviation is inevitable.In order to enable the detection mechanism to successfully complete the detection of a single pipeline,it is necessary to propose a probe detection mechanism with adaptive deviation correction;(2)Less weight-bearing ratio.Because the adsorption surface is a circular surface and the magnet is in linear contact with the wall,in order to ensure the adsorption stability of the wall-climbing robot,it is necessary to use large strong magnets to provide adsorption force,the utilization rate of magnetic energy is low,and the weight of the wall-climbing robot is greatly increased;(3)It is easy to overturn over obstacles.In the process of climbing over the obstacle,because the front end of the robot is tilted,part of the magnet is separated from the wall,the adsorption force is reduced,and the center of gravity of the robot deviates from the wall,the gravity torque caused by gravity increases,which is easy to cause capsizing.Therefore,the main contents of this paper are as follows:(1)The design and optimization of the frame of the wall-climbing robot and the detection mechanism of the pipeline probe:because the stable and reliable mobile robot carrying platform is the premise to ensure that the detection elements can detect the wall environment effectively,therefore,a kind of wall-climbing robot frame which can run stably on the wall is designed,and the force balance of uniform speed,acceleration and turning of the wall-climbing robot is analyzed.The mechanical analysis of the designed probe testing mechanism is carried out,and the spring parameters that meet the stiffness requirements are obtained.(2)Analysis of the influence of magnetic pole topology configuration on magnetic force based on complex curved surface:using finite element simulation,different magnet arrangement modes are designed,the magnetic pole direction and magnet size are simulated,and the evaluation index is introduced to analyze the magnetic pole arrangement.The magnetic pole topology array and size parameters with compact structure and high adsorption force are obtained,which can provide reference for the optimization of subsequent structure.Realize the good walking effect of wall-climbing robot in water-cooled wall environment.(3)Design and optimization analysis of anti-overturning mechanism based on complex curved surface:ensuring the basic walking ability of the wall-climbing robot and the ability to overcome obstacles such as coking and welds on the wall is the primary goal of the design of the wall-climbing robot,so this paper proposes a 3R1P anti-overturning mechanism based on the overturning mechanism of the wall-climbing robot,which increases the anti-overturning ability of the robot.