大型储罐容积检定是法定计量项目，目前应用广泛的光学垂准线法需要人工牵引磁性滑车沿罐壁的竖直母线多次往返以测量储罐径向偏差，测量过程人工劳动强度大，容易偏离测点，操作不便。开发了一种基于永磁吸附并能附着罐壁行走的径向偏差测量机器人工程化样机，能够很好地解决上述问题。该机器人采用了永磁吸附、履带式移动的设计理念，由机器人带动其上的测量装置标尺在储罐罐壁爬行，到测试点位置时自动停止，再由地面的光学垂准仪读取标尺的数据作为该测试点的径向偏差数据；样机自重小于10 kg，竖直爬行速度可达6 m/min，往返横向偏移不超过5 mm/10 m。该成果使测量过程省力便捷，实现自动化测量，提升了储罐容积检定的效率。
Abstract:
The volume verification is the legal metrology project for large-scaled storage tank，now the most widely used method is the optical reference line method.For metering the radial deviation of storage tank，which needs one person pulling the magnetic pulley to walk up and down along the vertical bus of the tank wall more than once，this metrology is characterized by high work intensity and low operability，furthermore，it is easy to deviate from the test point.So an engineering developed prototype of the radial deviation metering robot is introduced，which can excellently resolve all the above problems.The robot uses the design philosophy of permanent magnetic suck and tracked movement,it can carry the ruler using for the measuring tool to move along the storage tank wall，and stops automatically when it reaches the test point，so the ruler data can be read through the optical plumb aligner and used as the radial deviation value of the test point.The weight of prototype is less than 10 kg，and the vertical crawling speed is up to 6 m/min,horizontal offset is not more than 5 mm/10 m. This achievement makes the measurement easy and convenient，and realizes the automated measurement，and improves the efficiency of the volume verification of storage tank.
