{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,8]],"date-time":"2026-01-08T00:11:35Z","timestamp":1767831095508,"version":"3.49.0"},"reference-count":16,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2009,2,23]],"date-time":"2009-02-23T00:00:00Z","timestamp":1235347200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2009,10]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>A robot has been developed to maintain boiler water-cooling tubes. This robot has a double tracked moving mechanism, an ash cleaning device, a slag purging device, a tubes' thickness measurement device, a marking device, and a control system. This robot can climb up and down the tube wall. A method for the robot to complete many tasks for boiler maintenance in one process cycle is presented. The mechanism of the robot is described. Especially, a kind of special magnetic block structure is designed to obtain strong adhering force using permanent magnets. Experiments in laboratory and real thermal power station have verified that the robot cannot only climb on the surface of the tube wall smoothly, but also take heavy payloads for boiler maintenance operation.<\/jats:p>","DOI":"10.1017\/s0263574709005360","type":"journal-article","created":{"date-parts":[[2009,2,23]],"date-time":"2009-02-23T10:15:07Z","timestamp":1235384107000},"page":"941-948","source":"Crossref","is-referenced-by-count":28,"title":["Multifunctional robot to maintain boiler water-cooling tubes"],"prefix":"10.1017","volume":"27","author":[{"given":"Xueshan","family":"Gao","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dianguo","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yan","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huanhuan","family":"Pan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Weimin","family":"Shen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,2,23]]},"reference":[{"key":"S0263574709005360_ref12","volume-title":"Theory of Magnetic Circuit Design","author":"Lin","year":"1987"},{"key":"S0263574709005360_ref11","volume-title":"Electromagnetic Field and Electromagnetic Wave","author":"Singh Guru","year":"2006"},{"key":"S0263574709005360_ref10","first-page":"17","volume-title":"Rarecarth Permanent-Magnet Material and Its Application","author":"Zhou","year":"1990"},{"key":"S0263574709005360_ref9","first-page":"7","article-title":"Structure design of climbing robot used in water-cooling wall of boiler","volume":"5","author":"Pan","year":"2000","journal-title":"Mech. Des. Manuf. Eng."},{"key":"S0263574709005360_ref6","first-page":"5","article-title":"Outlook of pipe climbing robot","volume":"6","author":"Gan","year":"2003","journal-title":"Rob. Tech. Appl."},{"key":"S0263574709005360_ref14","first-page":"2072","volume-title":"Proceedings of the IEEE International Conference on Mechatronics and Automation","author":"Shen","year":"2005"},{"key":"S0263574709005360_ref13","volume-title":"Magnetic Circuit Design","author":"Wang","year":"1991"},{"key":"S0263574709005360_ref15","first-page":"2078","volume-title":"Proceedings of IEEE International Conference on Mechatronics and Automation","author":"Shen","year":"2005"},{"key":"S0263574709005360_ref5","doi-asserted-by":"crossref","first-page":"3286","DOI":"10.1109\/ICSMC.2006.384625","volume-title":"IEEE International Conference on Systems, Man and Cybernetics","author":"Suzuki","year":"2006"},{"key":"S0263574709005360_ref1","first-page":"66","volume-title":"Thermal Power Station","author":"Gao","year":"1995"},{"key":"S0263574709005360_ref3","first-page":"161","volume-title":"Maintenance and Service Technique for Boiler Equipments","author":"Han","year":"1991"},{"key":"S0263574709005360_ref16","unstructured":"16. Gao X. , Research on a Multi-jointed Wall Climbing Robot with Magnetic Crawlers. M.S. Thesis (Harbin Institute of Technology pp. 16\u201328, 1996)."},{"key":"S0263574709005360_ref8","first-page":"471","volume-title":"Proceedings of IEEE International Workshop on Intelligent Robots and Systems","author":"Fukuda","year":"1990"},{"key":"S0263574709005360_ref4","first-page":"375","volume-title":"Proceedings of the 2002 IEEE\/RSJ, International Conference on Intelligent Robots and Systems","author":"Park","year":"2002"},{"key":"S0263574709005360_ref2","first-page":"61","volume-title":"Accident Analysis and Treatment Protective Measure in Large Power Station","author":"Zhang","year":"1990"},{"key":"S0263574709005360_ref7","first-page":"12","article-title":"Some new techniques used for robots moving in pipe","volume":"5","author":"Deng","year":"1994","journal-title":"High Technol. Lett."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574709005360","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,30]],"date-time":"2019-04-30T10:52:28Z","timestamp":1556621548000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574709005360\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,2,23]]},"references-count":16,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2009,10]]}},"alternative-id":["S0263574709005360"],"URL":"https:\/\/doi.org\/10.1017\/s0263574709005360","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,2,23]]}}}