Design of Inspection Robot for Spherical Tank Based on Mecanum Wheel

Traditional manual weld inspection of large spherical tank has high cost, low efficiency and high degree of danger. It is of great significance to design an automated weld flaw detection system. This paper designs a wheeled wall-climbing robot that can crawl on the outer wall of the spherical tank. The Mecanum wheeled trolley is used as a mobile platform for ultrasonic testing with ultrasonic testing equipment. Firstly, the key structure of the robot is introduced, and the independent suspension structure and spherical adjustment mechanism are designed. The reliability of magnetic adsorption was analyzed by static calculation, and the rationality of the structure was verified. The ultrasonic probe fixture is designed according to the ultrasonic flaw detection process. The defect size calculated according to the flaw detection principle. Through the experiment, the motion effect of the wall-climbing robot on the curved surface is analyzed, and the rationality and application value of the wall-detecting robot flaw detection scheme are verified.