Inspection robot for spherical storage tanks

Inspection robot for spherical storage tanks
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DOI：
10.1109/iecon.2000.973182
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发表时间：
2000-10
期刊：
2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies
影响因子：
--
通讯作者：
T. Sogi;Y. Kawaguchi;H. Morisaki;K. Ohkawa;N. Kai;H. Hayakawa
T. Sogi;Y. Kawaguchi;H. Morisaki;K. Ohkawa;N. Kai;H. Hayakawa
中科院分区：
其他
文献类型：
--
作者：
T. Sogi;Y. Kawaguchi;H. Morisaki;K. Ohkawa;N. Kai;H. Hayakawa

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Osaka Gas Co. Ltd利用超声波探伤系统（衍射飞行时间法）对正在使用的球形储罐焊缝内外表面进行外部检查。在这些系统中，安装有超声波探伤探头的车辆被设计成仅沿直线行驶。为了提高工作效率，我们研制了一种由四个独立驱动的磁轮驱动的检测机器人。该机器人已在实际的球形储罐上进行了实验操作。该机器人的引入将检查时间从传统的23天缩短了约一周，并将所需的检查员人数从4人减少到2人。
Osaka Gas Co. Ltd has utilized ultrasonic flaw detection systems (time of flight diffraction method) to externally inspect the inner and outer surfaces of weld seams on spherical storage tanks while the tanks are in use. In these systems, the vehicle mounted with an ultrasonic flaw detection probe is designed to travel in a straight line only. To improve the work efficiency, we developed an inspection robot that is propelled by four independently driven magnetic wheels. This robot has been in experimental operation on an actual spherical tank. The introduction of this robot has shorten inspection time by about one week from the conventional 23 days, and reduced the conventional number of inspectors required from 4 to 2.