储罐底板漏磁检测移动机器人的研制  

Development of the Magnetic Flux Leakage Testing Mobile Robot for Tank Floor Inspection

作　　者：袁建明[1] 武新军[1] 安佰江[1] 康宜华[1] 

机构地区：[1]华中科技大学机械科学与工程学院,湖北武汉430074

出　　处：《石油矿场机械》2007年第9期82-85,共4页Oil Field Equipment

摘　　要：针对目前储罐底板漏磁检测中存在的问题,提出研制移动机器人代替人力驱动或人工辅助电力驱动方式进行储罐底板漏磁扫描检测。对机器人的检测路线规划、转向、定位及控制进行了研究。理论分析和试验研究表明,储罐底板检测机器人具有很高的实用价值,有利于提高检测效率,降低劳动强度,避免漏检、重检,提高检测准确性。According to the current problems existing in the magnetic flux leakage testing for tank floor,a mobile robot was developed which could take the place of manual or power-driven approach to tank floor MFL inspection. Testing route planning,turning,positioning and control for robot was studied. Theoretical analysis and experimental research show that robot will have high practical value for tank floor inspection and will be conducive to improving the efficiency of inspection, reduce labor intensity and avoid missed, re-examining and improving inspection accuracy.

关 键 词：储罐底板 漏磁检测 机器人 无损检测 

分 类 号：TE972[石油与天然气工程—石油机械设备] TG115.28[金属学及工艺—物理冶金]