Identification of the deviation of seam tracking and weld cross type for the derusting of ship hulls using a wall-climbing robot based on three-line laser structural light

2018 ◽  
Vol 35 ◽  
pp. 295-306 ◽  
Author(s):  
Ke Zhang ◽  
Yixin Chen ◽  
Hao Gui ◽  
Danyang Li ◽  
Zhuguo Li
Keyword(s):  
Seam Tracking ◽  
Climbing Robot ◽  
Ship Hulls ◽  
Cross Type

scholarly journals Non-contacted Permanent Magnetic Absorbed Wall-climbing Robot for Ultrasonic Weld Inspection of Spherical Tank

2019 ◽  
Vol 269 ◽  
pp. 02013
Author(s):  
Yulin Ding ◽  
Zhenguo Sun ◽  
Qiang Chen
Keyword(s):  
Weld Seam ◽  
Flaw Detection ◽  
Seam Tracking ◽  
Working Environment ◽  
Climbing Robot ◽  
Visual Sensing ◽  
Spherical Tank ◽  
Weld Seam Tracking ◽  
Weld Inspection ◽  
Industrial Pc

A novel wall-climbing robot for the onsite weld inspecting of spherical tank with Time of Flight Diffraction (TOFD) method has been developed, in order to liberate operators from dangerous and heavy working environment. Patented non-contacted permanent magnetic absorbed technology was adopted to realize reliable and flexible all-position moving along the weld seam on the surface of spherical tank. To ensure stable coupling for TOFD test, a surface adaptive probe holder which can provide constant contact force, have been particularly designed. Equipped with a visual sensing based weld seam tracking unit and industrial PC station, the robot could perform automatic flaw detection remotely even in the darkness environment. Onsite ultrasonic weld inspections have been carried out on a 4000m3spherical tank with 28mm in thickness. It is verified that the robot could accomplish tasks in any position and the acquired TOFD images satisfy the requirements of engineering evaluation.

scholarly journals Climbing Robot for Ferromagnetic Surfaces with Dynamic Adjustment of the Adhesion System

2012 ◽  
Vol 2012 ◽  
pp. 1-16 ◽  
Author(s):  
Manuel F. Silva ◽  
Ramiro S. Barbosa ◽  
António L. C. Oliveira
Keyword(s):  
Permanent Magnets ◽  
Large Radius ◽  
Climbing Robot ◽  
Dynamic Adjustment ◽  
Ship Hulls ◽  
Tall Structures ◽  
Inspection Process ◽  
Fuel Storage ◽  
Adjustment System ◽  
Remote Inspection

This paper presents a climbing robot with wheeled locomotion and adhesion through permanent magnets, developed with the intention of being used in the inspection of different types of man-made ferromagnetic structures, such as towers for wind turbines, fuel storage tanks, and ship hulls. In this paper are presented the main considerations thought for its project, as well as several constructive aspects, among which are detailed its mechanical and electrical construction, the implemented control architecture, and the human-machine interface developed for the manual and automatic control of the vehicle while in operation. Although it can be manually controlled, the vehicle is designed to have a semiautonomous behavior, allowing a remote inspection process controlled by a technician, this way reducing the risks associated with the human inspection of tall structures and ATEX places. The distinguishing characteristic of this robot is its dynamic adjustment system of the permanent magnets in order to assure the machine adhesion to the surfaces, even when crossing slightly irregular and curved surfaces with a large radius.

Modeling of a sensitive element on a planar mushroom-shaped metamaterial for non-destructive testing and searching for inhomogeneities in technological media

2020 ◽  
pp. 54-59
Author(s):  
A. A. Yelizarov ◽  
A. A. Skuridin ◽  
E. A. Zakirova
Keyword(s):  
Sensitive Element ◽  
Non Destructive Testing ◽  
Destructive Testing ◽  
Resonant Frequency Shift ◽  
Maltese Cross ◽  
Informative Parameters ◽  
Non Destructive ◽  
Cross Type ◽  
Electrodynamic Structure ◽  
Electrophysical Parameters

A computer model and the results of a numerical experiment for a sensitive element on a planar mushroom-shaped metamaterial with cells of the “Maltese cross” type are presented. The proposed electrodynamic structure is shown to be applicable for nondestructive testing of geometric and electrophysical parameters of technological media, as well as searching for inhomogeneities in them. Resonant frequency shift and change of the attenuation coefficient value of the structure serve as informative parameters.

Development of a climbing robot with magnetic wheels

2017 ◽  
Author(s):  
Marcelle Betzler Michels ◽  
Paulo Silva ◽  
Fabrício Lopes e Silva ◽  
Cristiano Carvalho ◽  
Luciano Santos Constantin Raptopoulos ◽  
...  
Keyword(s):  
Climbing Robot

Climbing Robot for Underwater Inspection of Constructions

1997 ◽  
Author(s):  
Valery Gradetsky ◽  
Michael Rachkov
Keyword(s):  
Climbing Robot

scholarly journals Numerical Investigation on the Ultimate Strength of Box Beams with Impact Damage

2020 ◽  
Author(s):  
Wei Xu ◽  
C. Guedes Soares
Keyword(s):  
Residual Stress ◽  
Ultimate Strength ◽  
Impact Damage ◽  
Ship Hulls ◽  
Four Point Bending ◽  
Impact Location ◽  
Box Beam ◽  
Box Beams ◽  
Fracture Damage ◽  
The Impact

AbstractThe objective of this paper is to study the residual ultimate strength of box beams with impact-induced damage, as a model of what may occur in ship hulls. The bottom and side plates of ship hulls can suffer denting or fracture damage due to grounding, collision and other contacts during the ship’s service life and these impact-induced damages could result in considerable strength degradation. Box beams are firstly subjected to impact loading and then four-point bending loading is imposed on the damaged structures to assess the residual strength using ANSYS/LS_DYNA. The ultimate moment and collapse modes are discussed considering the effect of impact location. The impact-induced deformation is introduced in the four-point bending simulation, and the impact-induced stress is included or not to determine the effect of residual stress and distortion after impact. It is shown that impact location has significant influence on the residual ultimate bending moment of the damaged box beam providing that the impact energy is kept constant. The collapse modes also change when the impactor strikes on different locations. Damaged hard corner and inclined neutral axes might explain the reduction of ultimate strength and diverse collapse modes. The residual stress in the box beam after impact may increase or decrease the ultimate strength depending on impact location.

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