检测焊缝爬壁机器人的设计

Design of Wall Climbing Robot for Detecting Welds

液化石油气(Liquefied Petroleum Gas,LPG)球罐被广泛应用于化工领域,但随着使用时间的增长,球罐内的物质会损坏焊缝,导致物质泄漏,如果不及时检测,则有爆炸危险。为解决这一问题,设计了检测焊缝机器人,采用永磁与电磁混合吸附方式,使其可以稳定地吸附在球罐内表面,利用TOFD检测,在多传感器记录机器人位置信息的基础上提出基于双激光雷达辅助标定的黑暗环境下爬壁机器人的定位方法,具有检测效率高、吸附能力强、精准定位等特点,可替代人工检测,减少人为因素对检测结果的影响,保证检测结果的准确性。

Liquefied Petroleum Gas(LPG)ball tank is widely used in the chemical field.With the growth of use time,the substances in the ball tank will damage the weld in the ball tank,leading to the leakage of substances in the ball tank.If it is not detected in time,there will be a danger of explosion.In order to solve this problem,the welding joint detection robot is designed.The mixed adsorption method of permanent magnet and electromagnetic is adopted,so that it can be stably adsorbed on the inner surface of the spherical tank.The positioning method of wall-climbing robot in dark environment based on dual LiDAR assisted calibration is proposed by using TOFD detection and recording the position information of the robot by multiple sensors.It has the characteristics of high detection efficiency,great adsorption capacity,and accurate positioning,etc.It can replace manual detection,reduce the influence of human factors on the test results,and ensure the accuracy of the test results.