[1]沈为民,王炎,赵言正,等.一种用于电站清扫的新型移动机器人的研制[J].南京理工大学学报(自然科学版),2001,(01):53-56.
 ShenWeimin WangYan ZhaoYanzheng PanPeilin.A Novel Mobile Robot for Power Plant Cleaning[J].Journal of Nanjing University of Science and Technology,2001,(01):53-56.
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一种用于电站清扫的新型移动机器人的研制()
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2001年01期
页码:
53-56
栏目:
出版日期:
2001-02-28

文章信息/Info

Title:
A Novel Mobile Robot for Power Plant Cleaning
作者:
沈为民王炎赵言正潘佩霖
哈尔滨工业大学机器人研究所!哈尔滨150001
Author(s):
ShenWeimin WangYan ZhaoYanzheng PanPeilin
Robot Research Institute,Harbin Institute of Technology,Harbin 150001
关键词:
机器人 控制系统 自动化 爬壁结构
Keywords:
robots cont rol systems automat ion w all dimbing architectures
分类号:
TP242
摘要:
火力发电站大型排管锅炉的水冷壁排管壁面清扫和检测一直是一项繁重、复杂和危险的体力劳动。现研制出一种新型移动机器人———水冷壁清扫检测爬壁机器人 ,采用独特的抗倾覆双履带结构、特殊的磁路设计和开放式控制系统。该机器人可实现电站锅炉水冷壁排管壁面的清扫和壁面厚度检测 ,自动化程度高 ,工作效率和安全可靠性远远高于手工作业 ,具有较高的推广应用价值。该机器人已通过多次现场测验 ,各项指标均达到设计要求
Abstract:
The cleaning of w ater-cooling tubes in pow er plants is alw ays an onerous, complex and dangerous job for human being s. To accomplish automat ion of the cleaning and inspecting work, a novel mobile robot w as designed to clean and inspect the w ater-cooling tubes in pow er plant s. The robot can work in a more ef ficient and more reliable w ay than workers. In this paper, the w al-l climbing robot is presented in detail, including desig n of carrier architecture, design of magnet ic circuits, and desig n of the robot’ s control system. The robot has been tested for several times, with it s performance sat isfying most design requirement s.

参考文献/References:

1 高鹗, 刘鉴民1 热力发电厂1 上海: 上海交通大学出版社, 19951 66~ 70
2 潘沛霖, 韩秀琴1 日本磁吸附爬壁机器人的研究现状1 机器人, 1994, 16( 6) : 379~ 382
3 周寿增1 稀土永磁材料及其应用1 北京: 冶金工业出版社, 19901 17~ 30
4 尤一鸣, 傅景义1 单片机总线扩展技术1 北京: 北京航空航天大学出版社, 1993190~ 103
5 Wang Yan. Development and applicat ion of wall climbing robo ts. Detroit: Pr oceeding of IEEE International Conference on Robotics and Automation, 1999. 1 207~ 1 212

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备注/Memo

备注/Memo:
国家 “8 63计划”资助项目(项目号863- 51 2 - 980 4 - 1 2 )
沈为民 男 29 岁 博士
更新日期/Last Update: 2013-03-25