Optimization Design and Flexible Detection Method of a Surface Adaptation Wall-Climbing Robot with Multisensor Integration for Petrochemical Tanks
Recently, numerous wall-climbing robots have been developed for petrochemical tank maintenance. However, most of them are difficult to be widely applied due to common problems such as poor adsorption capacity, low facade adaptability, and low detection accuracy. In order to realize automatic precise...
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MDPI AG
2020-11-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/20/22/6651 |
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doaj-dca772c25cc648718a1ee04c627197fb2020-11-25T04:11:20ZengMDPI AGSensors1424-82202020-11-01206651665110.3390/s20226651Optimization Design and Flexible Detection Method of a Surface Adaptation Wall-Climbing Robot with Multisensor Integration for Petrochemical TanksMinglu Zhang0Xuan Zhang1Manhong Li2Jian Cao3Zhexuan Huang4School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaRecently, numerous wall-climbing robots have been developed for petrochemical tank maintenance. However, most of them are difficult to be widely applied due to common problems such as poor adsorption capacity, low facade adaptability, and low detection accuracy. In order to realize automatic precise detection, an innovative wall-climbing robot system was designed. Based on magnetic circuit optimization, a passive adaptive moving mechanism that can adapt to the walls of different curvatures was proposed. In order to improve detection accuracy and efficiency, a flexible detection mechanism combining with a hooke hinge that can realize passive vertical alignment was designed to meet the detection requirements. Through the analysis of mechanical models under different working conditions, a hierarchical control system was established to complete the wall thickness and film thickness detection. The results showed that the robot could move safely and stably on the facade, as well as complete automatic precise detection.https://www.mdpi.com/1424-8220/20/22/6651wall-climbing robotpassive adaptive mechanismmagnetic circuit optimizationflexible detection method |
| collection |
DOAJ |
| language |
English |
| format |
Article |
| sources |
DOAJ |
| author |
Minglu Zhang Xuan Zhang Manhong Li Jian Cao Zhexuan Huang |
| spellingShingle |
Minglu Zhang Xuan Zhang Manhong Li Jian Cao Zhexuan Huang Optimization Design and Flexible Detection Method of a Surface Adaptation Wall-Climbing Robot with Multisensor Integration for Petrochemical Tanks Sensors wall-climbing robot passive adaptive mechanism magnetic circuit optimization flexible detection method |
| author_facet |
Minglu Zhang Xuan Zhang Manhong Li Jian Cao Zhexuan Huang |
| author_sort |
Minglu Zhang |
| title |
Optimization Design and Flexible Detection Method of a Surface Adaptation Wall-Climbing Robot with Multisensor Integration for Petrochemical Tanks |
| title_short |
Optimization Design and Flexible Detection Method of a Surface Adaptation Wall-Climbing Robot with Multisensor Integration for Petrochemical Tanks |
| title_full |
Optimization Design and Flexible Detection Method of a Surface Adaptation Wall-Climbing Robot with Multisensor Integration for Petrochemical Tanks |
| title_fullStr |
Optimization Design and Flexible Detection Method of a Surface Adaptation Wall-Climbing Robot with Multisensor Integration for Petrochemical Tanks |
| title_full_unstemmed |
Optimization Design and Flexible Detection Method of a Surface Adaptation Wall-Climbing Robot with Multisensor Integration for Petrochemical Tanks |
| title_sort |
optimization design and flexible detection method of a surface adaptation wall-climbing robot with multisensor integration for petrochemical tanks |
| publisher |
MDPI AG |
| series |
Sensors |
| issn |
1424-8220 |
| publishDate |
2020-11-01 |
| description |
Recently, numerous wall-climbing robots have been developed for petrochemical tank maintenance. However, most of them are difficult to be widely applied due to common problems such as poor adsorption capacity, low facade adaptability, and low detection accuracy. In order to realize automatic precise detection, an innovative wall-climbing robot system was designed. Based on magnetic circuit optimization, a passive adaptive moving mechanism that can adapt to the walls of different curvatures was proposed. In order to improve detection accuracy and efficiency, a flexible detection mechanism combining with a hooke hinge that can realize passive vertical alignment was designed to meet the detection requirements. Through the analysis of mechanical models under different working conditions, a hierarchical control system was established to complete the wall thickness and film thickness detection. The results showed that the robot could move safely and stably on the facade, as well as complete automatic precise detection. |
| topic |
wall-climbing robot passive adaptive mechanism magnetic circuit optimization flexible detection method |
| url |
https://www.mdpi.com/1424-8220/20/22/6651 |
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