Design And Research Of Wall-Climbing&Inspecting Robot Based On Magnetic Particle Inspection

With the rapid development of petrochemical industry, large pressure vessels use more and more widely. According to standardized requirements, in-service containers should be inspected periodically in order to ensure the safe operation. At present, the pressure vessels need to stop running during the periodic inspection, inspectors complete detecting with NDT equipment by building scaffolds inside and outside the tank. Since the working conditions and environmental restrictions, the workers have multifarious workload, low detection efficiency and high-risk. Therefore, it is of important practical significance to develop automatic detection system that meets field conditions. In this paper, proposed a new structure of climbing-wall&detecting robot that is suitable for magnetic particle testing based on the status of domestic and foreign research of climbing-wall&detecting robot. And the key structure of the robot is optimized by theoretical calculation and simulation analysis. On this basis, launch a study of the wall-climbing and inspection robots based on magnetic adsorption. The main research contents are as follows:(1) The dissertation studies the general structure of the magnetic attracting tracked wall-climbing robot, asking it to be able to carry detecting parts, to move reliably on the surface of pressure vessel, and to complete inspection tasks.(2) The dissertation studies the structural parameters of Halbach permanent magnet array. An optimization goal (Ratio of the maximum adsorption force and adsorption unit weight) and constraints of the magnetic adsorption unit is established. The finite element models and methods are verified by basing on experimental data. The magnetic adsorption unit is optimized by combining Isight software and finite element analysis. The Magnetic energy efficiency is greatly improved.(3) According to the magnetic particle testing’s requirements analysis of large tank and magnetic detection principle, magnetic particle testing of each module is designed, including the magnetization module, spray module, defect marking module, camera module.(4) After analyzing of the motion principle of tracked wall-climbing robot, this thesis gives a thorough research from the caterpillar climbing robot’s dynamic force and driving balance. Combined with the numerical simulation analysis, the Driving system’s equilibrium conditions are obtained when the tracked wall-climbing robot is in motion.(5) A prototype of the caterpillar climbing robot is developed and experimental studies of movement performance are done.