火电厂爬壁机器人研究进展

Development of Wall-Climbing Robot for Thermal Power Plant

爬壁机器人能够替代人工完成高难度、高风险的高空工程作业,在舰船清洗、液化气罐检测等诸多领域已经得到广泛的应用。基于现代爬壁技术在机器人领域的实际应用,对爬壁机器人的工作原理进行了介绍,分析了真空吸附、磁力吸附、静电吸附、仿生吸附以及攀附式吸附等不同吸附技术的特点,比较了轮式爬壁机器人、履带式爬壁机器人、足式爬壁机器人等多种爬壁机器人移动机构的优缺点。最后,结合火电厂应用环境特点,重点分析了爬壁机器人在火力发电厂的应用案例,探讨了火电厂爬壁机器人的发展趋势,指出复合吸附结构与移动方式是未来火电厂爬壁机器人的发展热点。

Wall-climbing robot has been widely used in many fields to replace human beings completing difficult and high-risk works at high-altitude,such as ship cleaning,liquefied gas tank detection,etc.Based on the practical application of modem wallclimbing technology in robot field,the working principle of wall-climbing robot was introduced.The characteristics of different adsorption technologies about vacuum adsorption,magnetic adsorption,electrostatic adsorption,bionic adsorption and clinging adsorption were analyzed.The advantages and disadvantages cf mobile mechanism about wheeled wall-climbing robot,crawler wall-climbing robot and foot wall-climbing robot are compared.Finally,combined with characteristics of application environments in thermal power plant,the development trend of wall-climbing robot was discussed.The wall-climbing robot with multiple adsorption structure and mobile mechanism will become the developed focus in thefature.