The corrosion of water cooled wall is related to many factors, including coal type, furnace type and structural parameters, combustion mode, operation management and so on. The main reasons for the corrosion of the outer wall of the water cooled wall metal pipe are high temperature and soot blowing. Due to the existence of sulfur, sodium and potassium in coal, the corrosion is caused by the action of sulfide gas, sulfate sediment or molten matter on the surface of the water cooled wall metal pipe produced by the combustion process. As time goes by, a layer of loose iron oxide is formed in the water cooled wall tube under the irradiation of high temperature gas. The iron oxide is washed away by the high-speed flue gas, and the newly exposed metal surface is oxidized again and washed again, making the tube wall gradually thinner.
1. General description
Our company aims at the problem of artificial detection of water cooled wall combined with Intelligent Detection Technology of Boiler Water cooled wall to carry out research. The research and development team has successfully developed the water-cooled wall crawling robot through the on-site inspection of the power plant and several practical trials of the design. The water-wall crawling robot can replace human beings to detect the water-wall. The robot is attached to the water-wall by permanent magnet technology and can move on the water-wall. It can complete the flushing of floating ash of the water-wall row, the detection of the appearance of the row, the automatic detection of the wall thickness and the location of defects through real-time high-definition video. The robot detection of the water cooled wall of power plant is realized, which is of great significance for promoting the intelligent detection of the water cooled wall of power plant.
The water cooled wall crawling robot can move horizontally on the water-wall tube screen to measure the thickness of each pipe with high precision, without coupling agent, high-definition camera, and automatically record the thickness data corresponding to the pipe, and automatically spray the pipe with problems. After the inspection is completed, the robot climbs lengthwise to another height for work. The cleaning device is composed of two water spraying devices, distributed in the front end of the body.
The water-wall crawling robot comprises a driving walking mechanism, a detecting mechanism, a cleaning device and a display controller. The driving walking mechanism comprises a body, a reduction motor, a frame and a rubber track, and the reduction motor is arranged in the body. The detection mechanism includes HD camera, electromagnetic ultrasonic thickness measuring instrument and positioning device, which are respectively arranged on the vehicle body. Display controller adopts the Android system control terminal with 7 inch HD touch screen to control the walking, detection, cleaning and thickness display of the water cooled wall crawling robot.
2. Characteristics of water-wall crawling robot
1) High-definition video
Camera adopts 2 million pixel CMOS image sensor, 150° large field of view Angle, LED lighting, real-time 1080P HD camera, storage. Can realize the field environment, robot walking, pipe wall appearance wear detection and record.
2) Cleaning and washing
Equipped with 2 high-pressure water cleaning sprinkler heads, to clean the water cooled wall, can be very efficient to wash off some of the slag, coal ash on the water cooled wall.
3) High precision thickness measurement
Using electromagnetic ultrasonic thickness measuring device, without coupling agent, the thickness of water cooled wall can be measured with a precision of 0.1mm. The traditional ultrasonic thickness measurement method must apply coupling agent in order to measure thickness is not convenient.
4) Corrosion pit detection
Equipped with magnetic flux leakage detection probe, the inner wall corrosion pit can be detected.
5) Precise positioning
According to the traveling distance of the water-wall crawling robot, the positioning accuracy is 0.1mm, which can accurately locate the location of the defect.
6）Compact in size
Size: 427*356*111mm, compact structure, small volume; Easy access to the boiler (boiler inlet hole is 440mm).
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