Adjustable Magnetic Adsorption Omnidirectional Wall-Climbing Robot for Tank Inspection

In-service industrial tanks require periodic inspection and maintenance to ensure safe operation. Wall-climbing robots can effectively replace manual inspection operations, saving time and costs. This paper presents a novel adjustable magnetic adsorption omnidirectional wall-climbing robot for tank inspection. The designed lifting mechanism scheme is a multi-link mechanism, which can adjust the magnetic attraction force of the robot. The magnetic adsorption lifting mechanism provides a stable adsorption force to the robot. The robot can easily disassemble from the working surface. The adsorption distance is analyzed to ensure that the robot and the tank surface without interference. The experimental results demonstrate that the robot has a stable wall-climbing ability. Based on PID controllers and the motion compensation, the stability of horizontal and longitudinal movement is improved. This robot can carry equipment and tools to inspect and maintain on the tank surfaces.