At present, numerous wall-climbing robots have been developed, and applied in ship manufacturing for weld detection to ensure safe navigation. Limited by rigid mechanical structure and complex detection, mostly existing robots are hardly to complete weld detection by using fluorescent magnetic particles. Based on permanent magnet adsorption, a wheeled wall-climbing robot is developed to realize the stable adsorption and flexible movement on ship wall. A detection mechanism is designed using a series and parallel flexible adaptation structure to keep cross yokes and detection area close for effective detection. A unified mechanical model is established by analyzing the angle between robot attitude and gravity, to solve safe adsorption and flexible movement for different detection conditions. Integrated the multisensor information and collaboration between control component, an automatic detection control workflow conforms to the standard process is proposed. Experiments show that the robot can move on curvature wall flexibly and stably, complete the weld detection with the standard process, and clearly display the shape and depth of the small defects (groove depth ≥ 30 μm) in standard specimen.

Weld detection is vital to the quality of ship construction and navigation safety, and numerous detection robots have been developed and widely applied. Focusing on the current bottleneck of robot safety, efficiency, and intelligent detection, this paper developed a wall-climbing robot that integrates multiple sensors and uses fluorescent magnetic powder for nondestructive testing. We designed a moving mechanism that can safely move on a curved surface and a serial-parallel hybrid flexible detection mechanism that incorporates a force sensor to solve the robot’s safe adsorption and a flexible detection of the curved surface to complete the flaw detection operation. We optimized the system structure and improved the overall performance of the robot by establishing a unified mechanical model for different operating conditions. Based on the collected sensor information, a multi-degree of freedom component collaborative flexible detection method with a standard detecting process was developed to complete efficient, high-quality detection. Results showed that the developed wall-climbing robot can move safely and steadily on the complex facade and can complete the flaw detection of wall welds.