Design Of Weld Inspection Robot System For The Outer Wall Of Spherical Tank

Large spherical tanks are widely used in the industry as large-capacity pressure vessels,and weld inspection is critical to the safety of their operations.Traditional manual testing has high cost,low efficiency and high degree of danger.It is of great significance to design an automated weld flaw detection system.In this paper,a wheeled wall-climbing robot capable of crawling on the outer wall of the spherical tank is designed.The Mecanum wheel trolley is used as a mobile platform for ultrasonic testing with ultrasonic testing equipment.Firstly,the key structure of the robot is introduced,and the independent suspension structure and spherical adjustment mechanism are designed.The reliability of magnetic adsorption was analyzed by static calculation,and the rationality of the structure was verified.The ultrasonic probe fixture is designed according to the ultrasonic flaw detection process and the probe outer dimensions,and the defect size calculation method is analyzed according to the flaw detection principle.For the possible hidden dangers of the wall-climbing robot,the auxiliary suspension robot that can crawl along the water pipe is designed to ensure safety.In the motion control of the robot,the motion model of the robot on the spherical surface is established,and the kinematic inverse solution of the robot is obtained by combining the plane motion decomposition of the Mecanum wheel to control the movement of the wall-climbing robot.Through the motion analysis of the suspension robot,the ADAMS was used to simulate the obstacle of the suspension robot,and the feasibility of the obstacle movement was verified.According to the analysis of the working tasks of the robot detection system,combined with the particularity of its working environment,a hardware system suitable for the whole set of equipment is designed.The communication of the robot control system part adopts the CAN bus type distribution structure,and the robot and the remote control computer use the wireless local area network for data transmission.Finally,the motion effect of the wall-climbing robot on the curved surface is analyzed by experiments.The surface creep performance of the robot is tested.The obstacle-proof capability and the reliability of the suspension robot are proved by constructing the pipeline experimental platform,and the experimental platform is carried out.The use of ultrasonic instruments to verify the rationality and application value of the wall-detecting robot flaw detection program.