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FLEXIBLE MAGNETIC WHEEL TYPE INTELLIGENT WELDING ROBOT FOR SPHERICAL TANK 被引量:9
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作者 Jiang Lipei Jiao Xiangdong Xue Long Ma Hongze Li Mingli Yang Zhaochun Department of Mechanical Engineering, Institute of Petro-chemical Technology,Beijing 102600, China 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2002年第2期173-176,共4页
An intelligent welding robot for spherical tank's all-position multi-layerwelds is developed. Based on the dynamics analyzing and simulation testing, a flexible magneticwheel mechanism is created as the robot'... An intelligent welding robot for spherical tank's all-position multi-layerwelds is developed. Based on the dynamics analyzing and simulation testing, a flexible magneticwheel mechanism is created as the robot's walking carriage. It makes the robot directly attracted tothe surface of the spherical tank so as to realize the all-position walking and welding withoutrail. At the same time, a CCD real-time tracing system is developed for the robot to repeatedlytrace the all-position and multi-layer seams. The welding tests show that the welding robot can makethe all-position and multi-layer welds with high tracing accuracy, excellent quality and reliablebehavior, and it can be applied for practical production. 展开更多
关键词 Welding robot All-position welding Automatic welding spherical tank
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Study on full automatic arc welding machine for spherical tank 被引量:2
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作者 蒋力培 张甲英 俞建荣 《China Welding》 EI CAS 2002年第1期34-37,共4页
A full automatic welding machine for spherical tanks' all position multi layer welds has been developed. This machine is mainly composed of a two dimension seam tracking system based on microcomputer's memor... A full automatic welding machine for spherical tanks' all position multi layer welds has been developed. This machine is mainly composed of a two dimension seam tracking system based on microcomputer's memory and a welding tractor as well as rail. The main features of the machine are: while welding the first layer of a seam, its microcomputer system can analyze and store the tracing information from a two dimension sensor, and control the welding head device to realize two dimension real time tracing; while welding the second layer up to the top layer of the seam, it can realize two dimension tracing based on the memorial data, automatically determine the layer number and continually sway the welding head. The welding test shows that the machine has good tracing and welding behavior, and is suitable for spherical tank's all position multi layer welds. 展开更多
关键词 full automatic welding machine spherical tank memorial tracing all position welding
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Support and Positioning Mechanism of a Detection Robot inside a Spherical Tank 被引量:1
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作者 Chunlei Tu Shanshan Jin +2 位作者 Kai Zheng Xingsong Wang Sichong Sun 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2021年第1期241-250,共10页
Large pressure equipment needs to be tested regularly to ensure safe operation;wall-climbing robots can carry the necessary tools to inspect spherical tanks,such as cameras and non-destructive testing equipment.Howeve... Large pressure equipment needs to be tested regularly to ensure safe operation;wall-climbing robots can carry the necessary tools to inspect spherical tanks,such as cameras and non-destructive testing equipment.However,a wall-climbing robot inside a spherical tank cannot be accurately positioned owing to the particularity of the spherical tank structure.This paper proposes a passive support and positioning mechanism fixed in a spherical tank to improve the adsorption capacity and positioning accuracy of the inspection robot.The main body of the mechanism was designed as a truss composed of carbon fiber telescopic rods and can work in spherical tanks with diameters of 4.6-15.7 m.The structural strength,stiffness,and stability of the mechanism are analyzed via force and deformation simulations.By constructing a mathematical model of the support and positioning mechanism,the influence of structural deformation on the supporting capacity is analyzed and calculated.The robot positioning method based on the support and positioning mechanism can effectively locate the robot inside a spherical tank.Experiments verified the support performance and robot positioning accuracy of the mechanism.This research proposes an auxiliary support and positioning mechanism for a detection robot inside a spherical tank,which can effectively improve the positioning accuracy of the robot and meet the robotic inspection requirements. 展开更多
关键词 Support mechanism Inspection of the spherical tank Ansys simulation Robot positioning
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Key Technology of Cutting and Moving Large Spherical Tank
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作者 YANG Wei LIU Xinshang HU Xuefeng 《International Journal of Plant Engineering and Management》 2021年第3期167-179,共13页
This paper mainly introduces the scientific cutting and hoisting construction technology before the large spherical tank(hereinafter referred to as spherical tank)moving and loading,so as to better ensure the construc... This paper mainly introduces the scientific cutting and hoisting construction technology before the large spherical tank(hereinafter referred to as spherical tank)moving and loading,so as to better ensure the construction quality of field assembly and welding in the process of spherical tank moving and loading. 展开更多
关键词 spherical tank moving and loading cutting and hoisting technology
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Numerical simulation of liquid sloshing in a spherical tank by MPS method
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作者 Cong-yi Huang Ji-fei Wang +1 位作者 Wei-wen Zhao De-cheng Wan 《Journal of Hydrodynamics》 SCIE EI CSCD 2024年第2期232-240,共9页
This paper investigates the sloshing phenomena in a spherical liquid tank using the moving particle semi-implicit(MPS)method,a crucial study in fluid dynamics.Distinct from previous research focused on rectangular or ... This paper investigates the sloshing phenomena in a spherical liquid tank using the moving particle semi-implicit(MPS)method,a crucial study in fluid dynamics.Distinct from previous research focused on rectangular or LNG tanks,this work explores the unique motion patterns inherent to spherical geometries.The accuracy of our in-house MPS solver MLParticle-SJTU is validated against experimental data and finite volume method(FVM).And the MPS method reveals a closer alignment with experimental outcomes,which suggests that MPS method is particularly effective for modeling complex,non-linear fluid behaviors.Then the fluid’s response to excitation at its natural frequency is simulated,showcasing vigorous sloshing and rotational motion.Detailed analyses of the fluid motion are conducted by drawing streamline diagrams,velocity vector diagrams,and vorticity maps.The fluid’s motion response is explored using both time-domain and frequency-domain curves of the fluid centroid,as well as the sloshing force. 展开更多
关键词 Moving particle semi-implicit(MPS)method spherical tank liquid sloshing model experiment
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Nonlinear roll damping of a barge with and without liquid cargo in spherical tanks 被引量:2
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作者 Wenhua Zhao Mike Efthymiou +1 位作者 Finlay McPhail Sjoerd Wille 《Journal of Ocean Engineering and Science》 SCIE 2016年第1期84-91,共8页
Damping plays a significant role on the maximum amplitude of a vessel’s roll motion,in particular near the resonant frequency.It is a common practice to predict roll damping using a linear radiation-diffraction code ... Damping plays a significant role on the maximum amplitude of a vessel’s roll motion,in particular near the resonant frequency.It is a common practice to predict roll damping using a linear radiation-diffraction code and add that to a linearized viscous damping component,which can be obtained through empirical,semi-empirical equations or free decay tests in calm water.However,it is evident that the viscous roll damping is nonlinear with roll velocity and amplitude.Nonlinear liquid cargo motions inside cargo tanks also contribute to roll damping,which when ignored impedes the accurate prediction of maximum roll motions.In this study,a series of free decay model tests is conducted on a barge-like vessel with two spherical tanks,which allows a better understanding of the nonlinear roll damping components considering the effects of the liquid cargo motion.To examine the effects of the cargo motion on the damping levels,a nonlinear model is adopted to calculate the damping coefficients.The liquid cargo motion is observed to affect both the linear and the quadratic components of the roll damping.The flow memory effect on the roll damping is also studied.The nonlinear damping coefficients of the vessel with liquid cargo motions in spherical tanks are obtained,which are expected to contribute in configurations involving spherical tanks. 展开更多
关键词 LNG carrier Nonlinear roll damping Liquid cargo motion spherical tanks Model test.
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Coupling dynamic analysis of a liquid-filled spherical container subject to arbitrary excitation 被引量:4
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作者 Jing Lü Shimin Wang Tianshu Wang 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2012年第4期1154-1162,共9页
Using spherical coordinates, the coupling nonlinear dynamic system of a liquid-filled spherical tank, which can be excited discretionarily, is deduced by the H-O varia- tional principle, and the viscous damping is int... Using spherical coordinates, the coupling nonlinear dynamic system of a liquid-filled spherical tank, which can be excited discretionarily, is deduced by the H-O varia- tional principle, and the viscous damping is introduced via the liquid dissipation function. The kinetic equations of the coupling system are deduced by the relationship between the velocity of liquid particles and the disturbed liquid surface equation. Normal differential equations are obtained through the Galerkin method. An equivalent mechanical model is developed for liquid sloshing in a spherical tank subject to arbitrary excitation. The fixed and slosh masses, as well as the spring and damping constants, are determined in such a way as to satisfy the principle of equivalence. Numerical simulations illustrate the theoretical results in this paper as well. 展开更多
关键词 Liquid-filled spherical tank. Coupling nonlinear system Arbitrary excitation Equivalent mechanical model spherical coordinates
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