搭载机械臂磁吸附爬壁机器人动力学特性分析

Dynamic characteristics analysis of a wall-climbing robot with magnetic adsorption arm

火电站锅炉在长期的使用过程中就会出现水冷壁管的高温腐蚀及磨损,导致水冷壁管的厚度变薄,容易出现水冷壁爆管,导致停机检修。水冷壁的检修以前主要靠人工搭建脚手架进行检测,工期长、效率低,目前出现了磁吸附的锅炉水冷壁爬壁检测机器人代替人工作业,但是由于爬壁机器人在水冷壁检测过程搭载机械中工况十分恶劣,容易出现机器人在行走水冷壁表面结焦或者水冷壁变形出现的凸台或凹坑区域时因磁吸附力不足有滑落风险,另外机器人有时还需要搭载机械臂进行燃烧器的视觉检测,进一步加大滑落风险。文章通过建立搭载机械臂的机器人与水冷壁动力学分析模型,对机器人在通过凸台、凹坑两种区域工况进行模拟分析,得出机器人在不同工况下磁轮与管壁之间接触力、摩擦力、磁轮吸附力及机器人质心变化变化情况,为后期机器人磁轮设计及机器人爬行测试提供参考。

In the long-term use of boilers in thermal power plants,high temperature corrosion and wear of water wall tubes will occur,which will lead to thinner water wall tubes,easy to burst water wall tubes and lead to downtime for maintenance.Before the maintenance of the water wall,the inspection was mainly carried out by manually erecting scaffolding.The construction period was long and the efficiency was low.At present,a magnetic adsorption wall climbing inspection robot for the boiler water wall has emerged to replace manual work.However,the working condition of the wall climbing robot in carrying machinery during the inspection of the water wall is very bad.It is easy for the robot to slip due to insuficient magnetic adsorption when walking in the convex or concave area where the water wall surface is coking or the water wall is deformed.In addition,the robot sometimes needs to carry a mechanical arm for visual inspection of the burner to further increase the risk of slipping.In this paper,by establishing the dynamic analysis model of the robot equipped with a mechanical arm and the water-cooled wall,the simulation analysis of the robot in the areas such as the boss,the pit,and the flame angle is carried out,and the change of the contact force,friction,magnetic force of the magnetic wheel and the machine's human center of mass between the magnetic wheel and the pipe wall of the robot under different working conditions is obtained,which provides a reference for the design of the magnetic wheel of the robot and the robot's crawling test in the later stage.