Design and adsorption force optimization analysis of TOFD-based weld inspection robot

Abstract

To meet the requirements of large metal tank weld inspection, a robot design scheme was proposed to walk on the outer surface of the tank and carry TOFD probe. The wall-climbing module, connecting frame module and TOFD weld inspection module are specifically designed. In this paper, the permanent magnetic adsorption principle and four-wheeled mechanism are both adopted in the wall-climbing module, meanwhile, the magnetic wheel's adsorption force is analyzed under multiple parameters. The main parameters affecting the adsorption force are obtained. To ensure the minimum size and the lightest quality of magnetic wheel, the adsorption force is also optimized based on the main parameters which are related to the permanent magnet itself. The above work provides a reference value for the research and development of intelligent weld inspection products of large metal tanks.