磁轮式超声串列自动扫查爬壁机器人结构及位置调整  

Structure and Position Adjustment of an Automatic Ultrasonic Tandem Scanning Robot with Magnetic Wheel

作　　者：徐芸[1] 刘宝生[1] 费燕琼[1] 赵锡芳[1] 

机构地区：[1]上海交通大学机器人研究所,上海200030

出　　处：《机器人》2005年第4期346-349,共4页Robot

摘　　要：介绍一种新型爬壁机器人,它以超声串列法自动扫查和检测在役化工容器筒壁对接环焊的危害性缺陷.着重介绍了它的机械结构及位置调整运动控制算法.这种机器人采用磁轮吸附和小车式行走,利用磁带导航,光纤传感器检测,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.A new type of wall-climbing robot is introduced. Using ultrasonic tandem detecting method, it automatically scans the walls of in-use chemical container to detect potential fault caused by circular weld. This article emphasizes the mechanism, position adjusting and motion controlling algorithm. Moving with magnetic wheels, navigating with magnetic band and detecting with fiber sensor, the robot has the characteristics of compact structure, good navigation performance, feasible position adjusting method and precise localization.

关 键 词：超声自动串列扫查 磁轮 爬壁机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]