Mobile platform for hydraulic turbine blade repair robot

Abstract

The wall-climbing mobile platform (MP) of a robot for repairing a hydraulic turbine blade onsite is developed. The MP is equipped with ferromagnetic adhesive devices and can work on a spatial curved surface. The contradiction between mobility and load-bearing ability is analyzed, and the problem of self-adaptation to the curved face is solved using differential-driven wheeled locomotion with ferromagnetic adhesive devices. The platform adheres to the blade surface through the force provided by the ferromagnetic devices, and a certain gap exists between the magnetic devices and the blade’s surface. A mechanism of three revolution degrees of freedom, which connects the magnetic devices with the platform’s chassis, is developed to make the platform self-adapt to the complex curved surface of the turbine blade. A proof-of-principle prototype has been manufactured, and experiments prove the success of the MP. The payload of the zero-turn-radius MP with excellent maneuverability exceeds 80 kg. The platform can automatically adapt to complex spatial surfaces, which satisfy the requirements of a hydraulic turbine blade in-situ repair robot.

References

1. Laroche Y Hazel B Fihey J L On site repair of hydraulic runners at Hydro-QuébecIn: Proceedings of International Form on in SituRobotic Repair of Hydraulic TurbinesHarbinHarbin University of Scienceand Technology Press 2000 19
2. Fihey J L Hazel B Laroche Y The Scompi technologyIn: Proceedingsof International Form on in Situ Robotic Repair of Hydraulic TurbinesHarbinHarbinUniversity of Science and Technology Press 2000 1826
3. Zhang H Chen M H Liu N S et al.Development of tracked intelligent arc welding robotRobot Technique and Application 2002 43(1)1316
4. Hirose S Tsutsumitake H Disk Rover: A wall-climbingrobot using permanent magnet disksIn: Proceedingsof IEEE/RSJ International Conference on Intelligent Robots and SystemsNew JerseyIEEE 1992 20742079
5. Pan P L Han X Q Zhao Y Z et al.Research advance of magnetic adhesive mobile platformin JapanRobotics 1994 16(6)379382
6. Xu Z L Ma P S Research and design of permanentmagnet sucker for the caterpillar of wall-climbing robot based onthe theory of electromagnetic energyMechanicalDesign 2002 19(11)2326(in Chinese)
7. Pan H H Zhao Y Z Wang Y Development of the wall-climbing robot utilized for cleaningand inspecting wall tube of boilersChineseMechanical Engineering 2000 11(4)372375(in Chinese)
8. Wang J B Studieson key technologies of wall-climbing robot for multi-pass weldingof spherical tankBeijingTsinghua University 2000