油罐检测爬壁机器人结构与控制系统设计

研究智能爬壁机器人检测技术及其系统 ,提出了机器人在大型垂直罐壁移动作业的路径规划方法 ,并分析了抗倾覆机构的作用 ,设计给出了机器人总体结构和控制系统 .系统以磁吸附爬壁机器人为运动载体 ,采用非接触式无损检测技术 ,并配备多种传感器 ,具备较高的智能化水平 .现场实验表明 ,该系统自动化程度高、运动稳定可靠、定位精度高 ,大幅度提高了检测效率 .

Structure and Control System Design of a Wall Climbing Robot for Oilcan Testing

The testing technology and the system of intelligent wall climbing robot are studied in this paper. A path planning method for motion on vertical walls is presented, the function of the anti-upset device is analyzed, and the general structure and control system is designed. Its main body is a wall climbing robot using permanent magnetic tracks. A non-contact NDT (non-destructive testing) technology and various sensors are applied to this robot, which give it high intelligence. Field experiments indicate that the equipment is in highly automatic level. It can move stably, has a high localization precision, and greatly improves the efficiency of oilcan testing.