水轮机叶片修复机器人的移动平台

设计一种具有曲面自适应功能的、用于水轮机叶片坑内修复机器人的爬壁式永磁吸附移动平台。对移动平台设计中须解决的移动灵活性和吸附能力间的矛盾及复杂空间曲面自适应问题进行分析。为解决移动和吸附的矛盾，提出永磁非接触吸附轮式移动方案。移动平台采用差动驱动的轮式移动机构，吸附力由和壁面非接触的、具有一定气隙的多个永磁吸附装置提供。各吸附装置通过具有3转动自由度的曲面自适应机构和移动机构底盘连接，这使移动平台可用于表面是复杂空间曲面的水轮机叶片表面。研制移动平台样机，试验结果表明移动平台负载能力强，超过80 kg，可原地转向，运动灵活性好，具有较好的复杂空间曲面自适应能力，能够满足水轮机叶片坑内修复的需要。

MOBILE PLATFORM FOR HYDRAULIC TURBINE BLADE REPAIR ROBOT

A wall-climbing mobile platform of a robot for repairing hydraulic turbine blade on site is developed.The mo- bile platform is equipped with ferro-magnetic adhesive devices, and it can work on spatial curved surface.The contradiction between moving mobility and adhesion ability and the problem of self-adaptation to curved face existing during the operation of the mobile platform are analyzed.The scheme of using dif- ferential-driven wheeled locomotion with fen'o-magnetic adhe- sive devices is used to solve problems above.The platform adheres to the blade's surface by the force provided by ferro-magnetic devices,and certain gap exists between the magnetic devices and the blade's surface.A mechanism of three revoluting degrees of freedom,connecting the magnetic devices with the platform's chassis,is developed to make the platform self-adaptive to the complex curved surface of the turbine blade.A prototype is manufactured,and experiments prove success of the mobile platform.The payload of the zero-turn-radius mobile platform with excellent maneuverabil- ity exceeds 80 kg,and the platform can adapt to complex spa- tial surfaces automatically,such results satisfy the requirements of hydraulic turbine blade in-situ repair robot.