Development of a wall-climbing robot for corrosion detection of vertical oil tanks
Abstract
This paper presents the research, design, and fabrication of a prototype robot for corrosion detection on vertical cylindrical oil tanks using the magnetic flux leakage (MFL) inspection technique. The robot's overall design, propulsion system, electrical components, control architecture, and MFL inspection unit were meticulously optimized using specialized software, in compliance with IEC explosion safety standards. The completed prototype has a total mass of 39 kg and operates within a speed range of 10 - 50 mm/s.
The prototype then underwent testing on a vertical steel plate fabricated to simulate the physical properties of actual gasoline and oil storage tanks. Preliminary test results demonstrate the robot’s adherence to key performance criteria, including strong adhesion, efficient mobility on vertical surfaces, and high sensitivity to micro-defects. Specifically, the robot can traverse weld seams up to 10 mm in height, maintain stable movement at a maximum speed of 50 mm/s, and detect defects as small as 2 mm in depth on steel plates up to 14 mm thick.
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