"无损检测机器人行走机构设计及应用研究"
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The spherical tank is widely used in the petrochemical industry for storing flammable and toxic substances such as petroleum gas and liquids. Due to the high quality requirements for the surface of the spherical tank and the need for regular inspections to ensure safe operation, a non-destructive testing robot suitable for spherical tanks has been developed. This paper focuses on the design of the walking mechanism of the spherical tank inspection robot, which utilizes magnetic wheels to adhere to the surface of the tank, allowing for automatic and unrestricted movement without the need for rails. This design reduces the time required for inspections, thereby improving efficiency. To ensure the stability and reliability of the walking mechanism, a double-row four-wheel rotating structure is employed, driven by an electric motor with gears to allow the magnetic wheel carriage to freely move on the spherical tank. The main task of this paper is to provide a detailed structural design of the robot's walking mechanism, including the design and calculation of the magnetic wheels and other components, as well as the verification of the strength of the main parts, selection of the electric motor and reducer, and the preparation of component and assembly drawings. Through calculations and verification, the designed walking mechanism of the spherical tank inspection robot is proven to be stable and reliable, meeting the design requirements. This research has great engineering application prospects in the field of spherical tank inspections. Key words: spherical tank, inspection, robot, walking mechanism.
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