Localization and Navigation of a Climbing Robot Inside a LPG Spherical Tank Based on Dual-LIDAR Scanning of Weld Beads

2016 ◽  
pp. 161-184 ◽  
Author(s):  
Ricardo S. da Veiga ◽  
Andre Schneider de Oliveira ◽  
Lucia Valeria Ramos de Arruda ◽  
Flavio Neves Junior
Keyword(s):  
Climbing Robot ◽  
Spherical Tank

scholarly journals Non-contacted Permanent Magnetic Absorbed Wall-climbing Robot for Ultrasonic Weld Inspection of Spherical Tank

2019 ◽  
Vol 269 ◽  
pp. 02013
Author(s):  
Yulin Ding ◽  
Zhenguo Sun ◽  
Qiang Chen
Keyword(s):  
Weld Seam ◽  
Flaw Detection ◽  
Seam Tracking ◽  
Working Environment ◽  
Climbing Robot ◽  
Visual Sensing ◽  
Spherical Tank ◽  
Weld Seam Tracking ◽  
Weld Inspection ◽  
Industrial Pc

A novel wall-climbing robot for the onsite weld inspecting of spherical tank with Time of Flight Diffraction (TOFD) method has been developed, in order to liberate operators from dangerous and heavy working environment. Patented non-contacted permanent magnetic absorbed technology was adopted to realize reliable and flexible all-position moving along the weld seam on the surface of spherical tank. To ensure stable coupling for TOFD test, a surface adaptive probe holder which can provide constant contact force, have been particularly designed. Equipped with a visual sensing based weld seam tracking unit and industrial PC station, the robot could perform automatic flaw detection remotely even in the darkness environment. Onsite ultrasonic weld inspections have been carried out on a 4000m3spherical tank with 28mm in thickness. It is verified that the robot could accomplish tasks in any position and the acquired TOFD images satisfy the requirements of engineering evaluation.

Development of a climbing robot with magnetic wheels

2017 ◽  
Author(s):  
Marcelle Betzler Michels ◽  
Paulo Silva ◽  
Fabrício Lopes e Silva ◽  
Cristiano Carvalho ◽  
Luciano Santos Constantin Raptopoulos ◽  
...  
Keyword(s):  
Climbing Robot

Climbing Robot for Underwater Inspection of Constructions

1997 ◽  
Author(s):  
Valery Gradetsky ◽  
Michael Rachkov
Keyword(s):  
Climbing Robot

scholarly journals Analysis and treatment of cracks in LPG spherical tank

2021 ◽  
Vol 1820 (1) ◽  
pp. 012065
Author(s):  
Chengjun Jiang ◽  
Yannan Du ◽  
Xiaoli Zhang ◽  
Weiguo Pan
Keyword(s):  
Spherical Tank

Design of a wheeled wall climbing robot based on the performance of bio-inspired dry adhesive material

Robotica ◽  
2021 ◽  
pp. 1-14
Author(s):  
Hongkai Li ◽  
Xianfei Sun ◽  
Zishuo Chen ◽  
Lei Zhang ◽  
Hongchao Wang ◽  
...  
Keyword(s):  
Flat Surface ◽  
Thrust Force ◽  
Adhesion Force ◽  
Structure Design ◽  
Design Parameters ◽  
Climbing Robot ◽  
Adhesive Material ◽  
Ducted Fan ◽  
The Stability ◽  
Belt System

Abstract Inspired by gecko’s adhesive feet, a wheeled wall climbing robot is designed in this paper with the synchronized gears and belt system acting as the wheels by considering both motion efficiency and adhesive capability. Adhesion of wheels is obtained by the bio-inspired adhesive material wrapping on the outer surface of wheels. A ducted fan mounted on the back of the robot supplies thrust force for the adhesive material to generate normal and shear adhesion force whilemoving on vertical surfaces. Experimental verification of robot climbing on vertical flat surface was carried out. The stability and the effect of structure design parameters were analyzed.

scholarly journals A reconfigurable soft wall-climbing robot actuated by electromagnet

2021 ◽  
Vol 18 (2) ◽  
pp. 172988142199228
Author(s):  
Wendong Zhang ◽  
Wen Zhang ◽  
Zhenguo Sun
Keyword(s):  
Working Conditions ◽  
Horizontal Plane ◽  
Vertical Wall ◽  
Flaw Detection ◽  
Surface Cleaning ◽  
Electromagnetic Actuator ◽  
Climbing Robot ◽  
Soft Wall ◽  
Power Frequency

This article demonstrates a reconfigurable soft wall-climbing robot actuated by electromagnet. The robot follows the earthworm movement gait and is capable of translation, deflection, and rotation movement while working on a sloping ferromagnetic wall. Also the electromagnetic actuator provides a significant improvement in expeditiousness compared with existing actuation modes. The speed of the robot can be adjusted by modulating the power frequency. When the period of motion cycle is 30 ms, the speed is about 26.5 mm s−1, and the robot can rotate with a velocity of 14.1° s−1 on the horizontal plane. It can also climb a vertical wall at the speed of 12.6 mm s−1. The robot is composed of two kinds of modules which can be connected by the magnets embedded. It can also be reconfigured in different working conditions, such as crossing an inaccessible gap, and thus has the potential to be used in flaw detection, surface cleaning, and exploration of ferromagnetic structures.

scholarly journals Design and Kinematic Analysis of a Wall-climbing Robot for Bridge appearance Inspection

2021 ◽  
Vol 638 (1) ◽  
pp. 012062
Author(s):  
Yue Qin ◽  
Shaojiang Dong ◽  
Rong Pang ◽  
Zongyou Xia ◽  
Qingsong Zhou ◽  
...  
Keyword(s):  
Kinematic Analysis ◽  
Climbing Robot
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