油罐容积检测用爬壁机器人的研制

Wall Climbing Robot for Measuring Oil Tank's Volume

研究一种用于检测油罐容积的爬壁机器人．该机器人用永磁铁作为磁吸盘元件，磁吸盘连接在链条上，具有一个特殊磁路以产生机器人吸附在壁上所需的磁力．设计了磁性定向转位机构和力分散机构．为满足油罐测量精度，设置了姿态和位置传感器．机器人控制采用多层计算机，上层处理机器人管理和路径规划，下层用于爬壁机器人的姿态和运动控制．

The investigation of a wall climbing robot for measuring oil tank's volume is made in this paper. By using an enternal magnet as absorption component, the robot works safely and efficiently. Magnets are placed on the chain, also a special magnetic circle is used to generate magnetic force for absorbing robot on the wall. A magnet location turning mechanism and a pressure-scatter mechanism are designed. A posture sensor is used to test the robot's posture and a position sensor to measure the distance it runs. Multiple computers are adopted to control the robot's movement. The upper computer is for the management and path planning of the robot, and the lower one is for the controlling of the moving and posture of the robot.