DocumentCode :
255010
Title :
A prototype of inspection robot for water wall tubes in boiler
Author :
Boonyaprapasorn, A. ; Maneewarn, T. ; Thung-Od, K.
Author_Institution :
Dept. Mech. Eng., Chulachomklao R. Mil. Acad., Nakhon-Nayok, Thailand
fYear :
2014
fDate :
14-16 Oct. 2014
Firstpage :
1
Lastpage :
6
Abstract :
In this research, the prototype of climbing robot carrying the electro-magnetic acoustic transducer (EMAT) probe and cameras to inspect the target position is developed. The EMAT probe can measure the thickness of the tubes without removing the scale covering the tubes. In order to reach the target position on each tube at the same height on the wall, the robot is designed to have mechanism switching from vertical motion to horizontal motion without steering. The adhesion force is provided by both magnetic wheels and the magnet bars under the robot. In the vertical direction, the robot climbs up and down using the belts driven by the magnetic wheels. For the horizontal motion, the magnetic wheels underneath of the robot provide locomotion for the robot. The feasibility of robot and EMAT device are tested. The results of tests are shown and discussed.
Keywords :
acoustic transducers; boilers; inspection; mobile robots; nondestructive testing; adhesion force; boiler; cameras; climbing robot; electro-magnetic acoustic transducer probe; horizontal motion; inspection robot; magnet bars; magnetic wheels; target position; vertical motion; water wall tubes; Adhesives; Boilers; Electron tubes; Inspection; Mobile robots; Wheels; Boiler inspection robot; Electromagnetic-acoustic transducer (EMAT); Magnetic wheeled climbing robot; Nondestructive testing.; Water wall tubes inspection;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Applied Robotics for the Power Industry (CARPI), 2014 3rd International Conference on
Conference_Location :
Foz do Iguassu
Print_ISBN :
978-1-4799-6420-8
Type :
conf
DOI :
10.1109/CARPI.2014.7030066
Filename :
7030066
Link To Document :
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