【摘要】 针对检测在役化工容器筒壁对接环焊的危害性缺陷,设计了一种基于超声串列法扫查法的新型爬壁机器人,着重介绍其机械结构及控制系统。这种机器人采用磁轮吸附和轮式行走,利用磁带导航,光纤传感器检测,具有结构紧凑,导航性能好,控制精度高等特点,有广泛的应用前景。更多还原

【Abstract】 The paper introduces how to design a magnetic wheel climbing robot utilizing magnetic belt navigating, fiber sensor examining in order to the weld seam of high pressure chemical containers which often exist boundary unblended, unweld, crack etc dangerous flaws.The device is delicate and has very high precision to position and navigation.Through scanning robot to detect flaw, it can improve the performance of examining flaws.更多还原