Abstract:  For the automatic detection of weld defects in large storage tanks, a wall-climbing robot needed to complete automatic omni-directional scanning. Firstly, according to the force state of the wall-climbing robot under different operating conditions, a mechanics model of the wall-climbing robot was established to analyze and obtain the four unstable hazards of non-sliding, non-longitudinal rollover, non-lateral rollover and compound motion state. The force state of the permanent magnet adsorption wheel was simulated and optimized by Maxwell software to meet the adsorption requirements. At the same time, the coding wheel with auxiliary adsorption function was designed to supplement the margin of safe adsorption force while feeding back the position information to increase the obstacle crossing and anti-instability abilities. Finally, according to the design model, the wall-climbing robot body was manufactured and tested. The test results prove that the robot designed herein may realize the omnidirectional driving operations with load stability at various ustable hazards.

Key words: weld inspection of storage tank, permanent magnet adsorption, wall-climbing robot, electromagnetic simulation

摘要： 对于大型储罐焊缝缺陷自动化检测，爬壁机器人需完成自动化全方位扫查。针对储罐爬壁机器人在不同运行工况下的受力状态，建立爬壁机器人力学模型，分析获得不下滑、不纵向倾覆、不横向侧翻以及复合状态下失稳状态危险点，应用Maxwell软件对永磁吸附轮受力状态进行仿真与优化设计，使之满足吸附要求。同时，设计具有辅助吸附功能的编码轮结构，在反馈位置信息的同时，补充安全吸附力的裕度，以增加其越障和抗失稳能力。最后，依据设计模型制造出爬壁机器人本体并进行测试实验，实验结果证明该机器人能在各种危险点处实现带负载稳定全向驱动运行。

关键词: 储罐焊缝检测, 永磁体吸附, 爬壁机器人, 电磁仿真