摘要
针对当前火电厂锅炉带鳍片的热交换管人工无法检测的现状 ,提出了一种利用移动机器人和柔性机械臂技术进行自动检测的方法 ,并对该检测机器人的机械结构、管子扫描检测部件及控制系统设计等进行了介绍。该机器人已在山东省几个电厂锅炉检测中得到应用。
In view of the present situation concerning the fact that the finned heat exchange tubing in boilers of thermal power plant can not be inspected by using the manual method, an automatic inspection method by using movable robot and flexible manupulator has been put forward, the design of parts in the said inspecting robot, such as the mechanical structure, the inspecting parts for tubescanning, and the control system etc., being described. The said robot has already been used in several power plants in Shandong Province.
出处
《热力发电》
CAS
北大核心
2004年第5期71-74,共4页
Thermal Power Generation
基金
国家 8 63计划 (编号 :2 0 0 2AA42 0 0 80 )
山东电力集团公司科研计划 (编号 :SDQ 1 0 58)资助
关键词
无损检测
自动检测
移动机器人
鳍片管
柔性臂
nondestructive inspection
automatic inspecting
movable robot
finned tubes
fexible manupulator
