Research On Structural Design And Synchronization Control Of Inspection Robot On Bilateral Wall

With the increasing importance of nondestructive testing(NDT)to welds of the in-service large spherical tank,automated weld inspection robots can effectively replace manual testing,which greatly improves safety and efficiency.In this issue,the inspection robot adopts X-ray digital plate detection method.In this paper,the structural design of the inspection robot and the bilateral synchronous control are studied.In this paper,the force of the inspection robot in the process of resting and moving at different positions on the wall of the tank is analyzed and calculated,the interference between the magnet of the robot and the wall and the inclination of the robot wheel are analyzed.The kinematics of Mecanum omni-directional provides the basis for robot motion control.The design of the magnetic adsorption lifting robot,the magnetic absorptive damping suspension robot and the three-axis adjustable magnetic adsorption robot are completed.Improved optimization to the robot mechanism satisfies the requirement of stable adsorption inside and outside the tank.According to the X-ray digital flat NDT method,robots complete the simultaneous operation on both sides of the wall.Using the bilateral visual synchronization and the bilateral laser tracking method to achieve the synchronization of the robot on both sides of the wall,the principle and position coordinates of the synchronization method are analyzed and calculated.Dual-robot Synchronize control system uses remote computer by wireless to control and communication with inspection robots,the dual-vision synchronization system,and the laser tracking system to complete the dual-robot synchronous operation control.The motion of the robot is tested by experiments,and the motion is compensated,corrected,and experimented to ensure the robot is reliable.In dual-robot synchronization experiments,the dual-vision synchronization and the laser tracking synchronization mode are carried out.The robot completes the synchronization tracking and positioning.Finally,robots are tested in the working field.