Development of a climbing robot for inspection of long weld lines

Purpose – The project Climbing Robot Cell for Fast and Flexible Manufacture of Large Scale Structures seeks to modernise and take into the future the technology of the manufacture of large fixed welded structures. It creates a transportable manufacturing cell consisting of a team of cooperating climbing robot work tools whose activities are coordinated and integrated through a central intelligence. The purpose of this paper is to present a wheeled robot, called NDT robot, designed for the real time inspection of long weld lines simultaneously with the welding process.Design/methodology/approach – Neodymium permanent magnets are used for adhesion, which are capable of producing a maximum adhesion pressure of 4 × 104 Nm−2 at a 20 mm air gap. The strong neodymium magnets give the robot a high payload carrying capability. The arrangement of the magnet array increases its performance at large air gaps so that the robot has excellent capability to overcome obstacles, such as weld caps. The design of the wheeled...