立式金属罐容积检定爬壁机器人的研制

针对传统油罐检定方法中,径向偏差测量精度低、操作危险、效率低等问题,研制一种小型的立式金属罐爬壁检定机器人。该机器人采用永磁吸附三轮式结构,测控系统以单片机89S51为核心,并配备多种传感器,实施有缆遥控操作。现场实验表明,该机器人自动化程度高,径向偏差测量准确,大幅度提高了油罐检定效率和检定精度。

Research on a Wall-climbing Robot for Capacity Measurement of Vertical Metal Tank

A kind of wall-climbing robot of vertical metal tank is designed, aiming at the problems of the traditional measunng method, such as a low localization precision of radial deviation, dangerous to operator, and a low measuring efficiency and so on. A structure based on three permanent magnetic wheels is adopted in the body design of the robot. With the control single chip computer 89S51 as the core of measurement and control system, and various sensors are applied to this robot, which is controlled remotely. Field experiments indicate that the robot is in highly automatic level. It has a high locahzation precision of radial deviation, and greatly improves the efficiency and accuracy of oil tank measurement.