Recently, numerous wall-climbing robots have been developed for petrochemical tank maintenance. However, most of them are difficult to be widely applied due to common problems such as poor adsorption capacity, low facade adaptability, and low detection accuracy. In order to realize automatic precise detection, an innovative wall-climbing robot system was designed. Based on magnetic circuit optimization, a passive adaptive moving mechanism that can adapt to the walls of different curvatures was proposed. In order to improve detection accuracy and efficiency, a flexible detection mechanism combining with a hooke hinge that can realize passive vertical alignment was designed to meet the detection requirements. Through the analysis of mechanical models under different working conditions, a hierarchical control system was established to complete the wall thickness and film thickness detection. The results showed that the robot could move safely and stably on the facade, as well as complete automatic precise detection.

中文翻译：

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石化油箱多传感器一体化表面适应爬壁机器人的优化设计与柔性检测方法

近来，已经开发出许多用于石油化工储罐维护的爬壁机器人。然而，由于诸如吸附能力差，立面适应性低和检测精度低等常见问题，它们大多难以广泛应用。为了实现自动精确检测，设计了一种创新的爬壁机器人系统。基于磁路优化，提出了一种能适应不同曲率壁的被动自适应运动机构。为了提高检测精度和效率，设计了一种灵活的检测机制，并结合了可以实现被动垂直对齐的钩形铰链，可以满足检测要求。通过分析不同工况下的力学模型，建立了分级控制系统以完成壁厚和膜厚检测。结果表明，该机器人可以安全，稳定地在立面上移动，并且可以完成自动精确检测。