新型水冷壁机器人设计及其电永磁轮研究OA北大核心CSTPCD

The water-cooled wall of boiler in thermal power plants needs to be inspected and cleaned regularly.Using water-cooled wall robot can improve the efficiency of inspection and cleaning.In view of the complex working environment of water-cooled wall,a new type of water-cooled wall robot was developed.The robot structure and working principle were introduced.In order to ensure the robot to move flexibly and have reliable suction on the water wall,an electric permanent magnet wheel was designed.Through Maxwell simulation and experiment,the current excitation required to magnetize/demagnetize the electric permanent magnet wheel and wheel suction were obtained,and the electric permanent magnet wheel magnetize/demagnetization circuit was designed.The control system of the robot body was introduced,and the experimental platform for lateral walking of the robot was built to verify the cooperation and stability of the robot motion.The experimental results showed that the inner and outer legs of the robot could adsorb and move forward alternately,and realize the gait of lifting,stepping and dropping legs,and the movement was stable.The magnetic force was produced when the robot droped its legs and disappeared when it lifted its legs.The robot had both adsorption stability and movement flexibility.The electric permanent magnet wheel had simple structure,small size,small mass,less power consumption,and could provide about 150 N suction.The research results provide a reference for the application of wall-climbing robot in the cleaning and detection of water-cooled walls.