摘要
介绍适用于带鳍片的锅炉热交换器承压管道无损检测的机器人系统。承压管道呈矩阵式分层排布 ,检测机器人可在管道表层平面做XY方向运动 ,同时将所带柔性臂深入到管道之间的狭小空间 ,利用柔性臂末端的CCD探头 ,超声探头及应变片测径仪对管道外表面缺陷进行检测。并介绍了机器人的行走机构。
In this paper, a novel mobile robot for finned tube nondestructive testing (FTIR) is presented. FTIR can move in both x- and y-direction on the top layer of the pressure tube of calandria that are installed in layers. The snake-like arms mounted on the robot can be lowered into the narrow space between the tubes and the tubing can be inspected through the device installed in the end of the arms. The designe of moving mechanisms, the inspecting device applied in narrow space and the control system design are introduced.
出处
《山东电力技术》
2003年第5期1-6,共6页
Shandong Electric Power
基金
国家 8 6 3计划资助 (编号 2 0 0 2AA4 2 0 0 80 )
