Exploration and optimization of adsorption characteristics of robots for working inside spherical tanks

When robots use magnetic adsorption, they are prone to sliding and overturning due to insufficient adsorption force when moving on curved surfaces. At the same time, due to the non adjustability of permanent magnetic adsorption, the robot's obstacle crossing ability inside the tank is weak. The welding seam detection robot for LPG (liquefied petroleum gas) spherical tanks is used as the object, adopting a combination of permanent magnet and electromagnetic adsorption method. By analyzing the requirements for adsorption performance on the surface of the spherical tank, a magnetic adsorption system for the robot is designed and implemented. Finally, the robot's movement ability inside the spherical tank is verified through adsorption performance simulation.