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- Title
一种基于磁力吸附的储罐爬壁机器人本体设计.
- Authors
邱仕诚; 伍剑波; 赵恒忠; 王 珅; 胡启凡; 颜 荣
- Abstract
For the automatic detection of weld defects in large storage tanks, a wall-climbing robot needed to complete automatic omnidirectional scanning. Firstly, according to the force state of the wall-climbing robot under different operating conditions, a mechanics model of the wall-climbing robot was established to analyze and obtain the four unstable hazards of non-sliding, non-longitudinal rollover, non-lateral rollover and compound motion state. The force state of the permanent magnet adsorption wheel was simulated and optimized by Maxwell software to meet the adsorption requirements. At the same time, the coding wheel with auxiliary adsorption function was designed to supplement the margin of safe adsorption force while feeding back the position information to increase the obstacle crossing and anti-instability abilities. Finally, according to the design model, the wall-climbing robot body was manufactured and tested. The test results prove that the robot designed herein may realize the omnidirectional driving operations with load stability at various ustable hazards.
- Subjects
WELDING defects; STORAGE tanks; PERMANENT magnets; ROBOT design &; construction; WELDING inspection
- Publication
China Mechanical Engineering, 2022, Vol 33, Issue 3, p270
- ISSN
1004-132X
- Publication type
Article
- DOI
10.3969/j.issn.1006-7108.2022.01.007