机械科学与技术2026，Vol.45Issue(1)：1-11,11.DOI:10.13433/j.cnki.1003-8728.20240026
一种汽包焊缝检测爬壁机器人的设计及分析
Design and Analysis of Wall-climbing Robot for Drum Weld Detection
摘要
Abstract
To meet the requirements of automatic weld detection for large boiler drums,a wall-climbing robot that can flexibly adjust the direction is proposed.Firstly,a rotating chassis structure and a multi-joint torsionally compressed probe coupling structure are designed,which realizes the scanning action of transverse and longitudinal welds.The key parameters of Halbach permanent magnet wheel via Ansys EM are simulated and analyzed,and the appropriate parameter values is selected which can produce sufficient magnetic adsorption force.Then,the dynamic performance of the robot in the scanning process is analyzed,and the PID algorithm is designed to compensate the fluctuations in velocity and attitude angles.Finally,the wall-climbing robot is manufactured according to the designed model,and the plane scanning and the cross-weld scanning experiments of Q235 steel plane are carried out.The results show that the present wall-climbing robot can realize TOFD scanning action,and can stably cross the weld after introducing the PID algorithm,which meets the requirements of large boiler drum weld detection.关键词
汽包焊缝检测/爬壁机器人/动态分析Key words
drum weld inspection/wall-climbing robot/dynamic analysis分类
机械制造引用本文复制引用
马育祺,伍剑波,石跃界,颜荣,刘磊,向天乐..一种汽包焊缝检测爬壁机器人的设计及分析[J].机械科学与技术,2026,45(1):1-11,11.基金项目
国家市场监督管理总局科技计划(2022MK153)、四川省市场监督管理局科技计划(SCSJZ2023001)及四川大学-自贡市校地科技合作专项(2021CDZG-4) （2022MK153）
