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Use of Robotics for Condition Assessment of Boiler Water Wall Ttobes

机译：机器人在锅炉水冷壁管状态评估中的应用

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Boiler tube failures continue to be the leading cause of forced outages in boilers. To get your boiler back on line and reduce or eliminate future forced outages due to tube failure, it is extremely important to determine and correct the root cause. Detecting flaws before they cause failures is of critical importance in boiler maintenance. Localized wall thinning due to corrosion in boiler water-wall tubing is a significant inspection concern for boiler operators.There are at least four other methods used for the inspection of boiler water walls. These methods are spot check UT, A-s can UT, EMAT, and scanning thermograpy. Spot check UT only gives thickness readings and gets very minimal coverage of the total surface area of the furnace water walls; the chances of finding I.D. flaw mechanisms using Spot Check UT are minimal at best. If boiler water walls have been sandblasted, A-scan UT may be used to inspected larger areas of the furnace walls; in these cases, a steady flow of water is most often used as the couplant. The EMAT technique requires that any boiler water wall surfaces be sandblasted.This paper will present a discussion on the deployment of robotic wall crawler using electromagnetic technique to inspect boiler water walls from outside of the tube coupled with the theoretical background of the technique which explains the quantitative nature of the inspection.Further, two case studies will be presented for the technique that allows the extraction of thickness information from the inspection data.
机译：锅炉管故障仍然是锅炉被迫停机的主要原因。为了使您的锅炉恢复正常运行，并减少或消除由于管道故障而导致的未来强制停机，确定并纠正根本原因非常重要。在缺陷导致故障之前进行检测对于锅炉维护至关重要。对于锅炉操作员来说，由于锅炉水冷壁管腐蚀引起的局部壁厚减薄是一个重要的检查问题。至少还有四种其他方法可用于检查锅炉水冷壁。这些方法是现场检查UT，A-s可以UT，EMAT和扫描热成像。点检UT仅给出厚度读数，并且很少覆盖熔炉水冷壁的总表面积。找到身份证的机会使用Spot Check UT的缺陷机制​​极少。如果锅炉水冷壁已被喷砂处理，则可以使用A-scan UT检查较大的炉壁区域。在这种情况下，最经常使用稳定的水作为耦合剂。 EMAT技术要求对所有锅炉水冷壁表面进行喷砂处理。本文将讨论使用电磁技术从机器人管壁检查锅炉水冷壁的机器人履带式机器人的部署，并结合该技术的理论背景进行说明。检验的定量性质。此外，将针对该技术提出两个案例研究，该技术允许从检验数据中提取厚度信息。

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