A boiler maintenance robot which is equipped many kinds of operation devices is proposed. This robot has compact size and can be used to do works of ash cleaning, slag purging, thickness measurement and symbol marking for boiler water-cooling tubes maintenance in one work cycle. The robot can move smoothly on the tube-wall using double magnetic tracked mechanism which is designed specially. In this paper, the structure of the robot, method of the operation and devices, self-protection mechanisms and control system are described in detail and the idea of the design is given. Furthermore, through experiments in laboratory and thermal power station, it is proved that this robot has strong adhering ability to the tube-wall and practical operation ability.
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Gao et al. (2008) studied this question.
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