轮式水冷壁爬壁机器人磁吸附性能研究
Research on Magnetic Adsorption Performance of Wheeled Water Wall Climbing Robot

火电站锅炉炉膛需要定期进行检修，传统的检修方式是搭建脚手架人工操作，十分危险，利用轮式水冷壁爬壁机器人来实现清理检修等工作可大大降低检修难度。水冷壁壁面是由钢管外径构成的不规则表面，采用永磁吸附装置进行吸附，为了保证水冷壁爬壁机器人在移动过程中的安全可靠，本文利用有限元方法，建立爬壁机器人磁力仿真模型，以磁吸附力的最小值作为载荷设计原则，通过优化磁性轮结构，降低爬壁机器人在水冷壁管不同位置时的磁力波动，提高水冷壁爬壁机器人的吸附安全系数。应用于火电站锅炉炉膛壁面检修工作，效果良好。
The boiler furnace of thermal power station needs regular maintenance. The traditional maintenance method is to build scaffold for manual operation, which is very dangerous. The cleaning and maintenance by using wheeled water wall climbing robot can greatly reduce the maintenance difficulty. The wall surface of the water wall is an irregular surface composed of the outer diameter of the steel pipe, which is adsorbed by the permanent magnet adsorption device. In order to ensure the safety and reliability of the water wall climbing robot in the moving process, this paper uses the finite element method to establish the magnetic simulation model of the wall climbing robot, takes the minimum value of the magnetic adsorption force as the load design principle, and optimizes the magnetic wheel structure, reduce the magnetic fluctuation of the wall climbing robot at different positions of the water wall tube, and improve the adsorption safety factor of the wall climbing robot. It has been applied to the maintenance of furnace wall of boiler in thermal power plant, and the effect is good.