Structure Design And Research On Wall-climbing Robot For Nondestructive Testing

Vessels which are operated under long-term corrosion, low temperature and high pressure always have the possibility of material degradation, brittle fracture, creep ,creep crack and fatigue fracture and the original and extended defects can cause container failure. How to inspect and how to detect and monitor the risk of defect and understand the equipment running station, in order to determine whether the containers can be used continuously .That is the key issue to ensure that pressure vessels and pipelines are safe in the operation and it's also currently increasing personnel concern of pressure vessel engineering and technical.This thesis is based on active chemical containers, which intends to design wall-climbing robot for non-destructive testing on chemical container in service-line, asking them to be able to carry detecting parts to move reliably on the smooth surface of pressure vessel , and to complete inspection tasks. Wall-climbing robot's performance indicators are: the robot has a load capacity, mechanical body is the carrier of various functional modules that can achieve various functions, such as rust, testing, defect marking, etc.; followed by the structural dimensions, the basic body dimensions As 850×600×200mm; weld speed 1m/min; more impaired capacity, pressure vessel welding is butt welding, therefore, Robot Obstacle capacity requirements, not very strict; could be detected Wall thickness :3-50mm.The key technology in the design of mechanical body were double-track structure of the cycling body structure, adsorption and absorption methods for the permanent magnet motor drive for the drive. Detection method using ultrasonic testing, in order to prevent irregularities encountered during walking, body weld have capsized, the use of track clamping device to prevent overturning occurs.Using three-dimensional design software SolidWorks to create three-dimensional model, in order to take into account the stability of wall-climbing robot and flexibility needed to calculate the minimum allowable absorption edge, in order to quantitatively calculate the maximum overturning resistance to overturning moment before, so the static ontology structure analysis to identify critical conditions, and to optimize the design. Track slip in the course of the campaign there, its dynamics and kinematics analysis, wall-climbing robot tracked the movement mechanism, optimizing the structure design.Finally, the prototype body for safety analysis is necessary for their safe and reliable operation.