一种汽包焊缝检测爬壁机器人的设计及分析OA
Design and Analysis of Wall-climbing Robot for Drum Weld Detection
面向大型锅炉汽包焊缝自动化检测需求,提出了一种可灵活转向的爬壁机器人.首先,针对汽包外壁面的横、纵焊缝扫查需求设计了可灵活转向的底盘结构和分段扭压的探头耦合结构,并用AnsysEM软件对Halbach磁轮的关键参数进行仿真分析,确定合适的参数使磁轮满足吸附要求.其次,分析了机器人在扫查过程中的动态性能,并设计PID算法补偿姿态角和速度的波动.最后,根据模型制造出爬壁机器人本体,并在Q235钢平面进行平面扫查和跨焊缝扫查实验.实验结果表明,所提出的爬壁机器人可以完成TOFD扫查动作并在引入PID算法后能稳定跨越焊缝,满足大锅炉汽包焊缝检测需求.
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.
马育祺;伍剑波;石跃界;颜荣;刘磊;向天乐
四川大学机械工程学院,成都 610065四川大学机械工程学院,成都 610065自贡华西能源工业有限公司,四川自贡 643000四川大学机械工程学院,成都 610065自贡华西能源工业有限公司,四川自贡 643000四川大学机械工程学院,成都 610065
机械制造
汽包焊缝检测爬壁机器人动态分析
drum weld inspectionwall-climbing robotdynamic analysis
《机械科学与技术》 2026 (1)
1-11,11
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)
评论