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简要介绍了应用于火电站锅炉的水冷壁清扫、检测的永磁吸附爬壁机器人的本体结构设计。阐述了机器人在此特殊工作环境中存在的设计难点 ,提出了机器人的本体结构设计方案和纠偏机构 ,并对其进行了静态和动态的受力分析 ,确定单个磁性吸附块的最小吸力、电机的力矩等参数。
This paper briefly introduces the design of the structure of permanent magnetism adsorption wall climbing robot which is applied to the cleaning and testing of water wall in thermal power station boiler. The design difficulty of the robot in this special working environment is expounded. The design scheme of the robot’s body structure and the corrective mechanism are put forward. Static and dynamic stress analysis of the robot is carried out to determine the minimum suction of the single magnetic adsorbing block. Torque and other parameters.