【作者】 赵兴飞；

【导师】 周忆；

【作者基本信息】 重庆大学 ， 机械电子工程， 2004， 硕士

【摘要】 爬壁机器人是极限作业机器人的一个分支，其目的是代替人类，在核工业、石化企业、建筑行业、消防部门、造船等领域中的危险状态下作业，具有极其广泛的用途和很高的使用价值。自从二十世纪六十年代出现以来，受到人们的广泛关注。本文所研究的锅炉水冷壁爬壁机器人是实现电站锅炉水冷壁管的清扫、检测的爬壁机器人，具有很高的推广应用价值。 本文在系统地综述爬壁机器人的基础之上，针对现场作业中的特殊情况，提出电磁吸附式、步行式机构的爬壁机器人。该机器人采用气动推动方式，电磁铁吸附，由气缸推动机器人本体的导轨相对滑动来实现机器人的运动。机器人本体上安装有清扫和检测装置，实现对管壁的灰尘清扫和壁厚检测。该机器人能缩短作业周期，提高电站的经济效益，降低劳动强度，提高检测精度。 磁路系统是电磁吸附式爬壁机器人实现吸附功能的重要环节。本文针对水冷壁管壁面的曲面结构，提出一种磁路结构，进行了磁路结构参数的计算；利用有限元软件进行了参数验证。 本文最后加工了初步的实验样机，并进行了初步实验，达到了预定的实验目标。更多还原

【Abstract】 A wall-climbing robot is of robots for limited operation, aiming to take the place of human beings to work under hazardous environments such as nuclear power plants, petrochemical enterprises, architecture, fire fighting and shipbuilding etc. It has a wide application and high practical value. Wall-climbing robots have greatly provoked word wide attention ever since it was bom in the 1960s. A wall-climbing robot on water-cooling tubes discussed in this thesis is the robot that sweeps and inspects the water-cooling tubes in the power station boiler.In this thesis, wall-climbing robots are systematically summarized. According to the special conditions on the spot, a wall-climbing robot is developed. The robot is driven by air and sucks the tubes by electromagnet. The cylinder moves robot by driving the slides of the structure. The robot can sweep the dust on the surface of the water-climbing tubes and measure the thickness using the devices installed on the robot. The robot can shorten the working period, raise the efficiency of the power plants, reduce working intensity and improve the measuring precision.The design of magnetic circuit system is closely related to the absorbing performance of the robot. Considering the abnormal structure of the water-cooling tube, the thesis selects a magnetic circuit and designs the parameters of the magnetic circuit. With the finite method software, parameters of the magnetic circuit are verified.Finally, an elementary experimental sample is made. The test on this sample realizes the scheduled aim.更多还原