A Novel Compound Wheel Applied in Boiler Detecting Robot

To realize the moving of a detecting robot on the surface of heat exchanger bearing pipes in a boiler with spiral radiators around the pipes,a novel kind of compound wheel was developed.The compound wheel is composed of two sprocket wheels and several small drum-like wheels.They can make the robot move in the direction parallel with or vertical to the pipe.The conjugate outline curve and the circle-arc outline curve of the drum-like wheels were discussed.And the error of the circle-arc outline curve was also analyzed.The results indicate that the drum-like small wheels with circle-arc outline satisfg the detecting requirement.