自动扫查爬壁机器人系统及调整运动

高压容器的焊缝常存在边界未熔合、未焊透、裂纹等问题，一般利用超声波串列扫查方法对焊缝进行无损检测．介绍一种用于化工容器在役检测的新型超声串列自动扫查爬壁机器人，并着重阐述了其机械结构及位置调整运动控制算法．该爬壁机器人采用磁轮吸附小车的行走方式、利用磁带进行导航和光纤传感器检测机器人状态，具有结构紧凑、导航性能好、位置调整方法可行和定位精度高等特点．实验证明该机器人方案可行，效果良好．

An Automatic Scanning & Climbing Robot System and Its Adjusting Algorithm

Ultrasonic tandem method is usually adopted to detect the weld seam of a high pressure container in which dangerous flaws exist, such as boundary unblended and crack. This paper introduced an automatic scanning & climbing robot for chemical container on-line defect detecting and demonstrated its mechanical structure and adjusting algorithm. Magnetic wheels are used for moving, a magnetic band is used for navigating and a fiber sensor for robot status detecting. Its structure is robust, with good navigation performance, feasible adjusting algorithm and precise location, etc. The experiments demonstrate that the solution is feasible and with excellent performance.