Study On Technology And System Of Oilcan Testing Wall-Climbing Robot

The development of oilcan automatic testing system is of great importance for the petrochemical enterprises. In order to solve the key technical problems, the theory and technology of the intelligent testing wall-climbing robot are studied in this dissertation. The primary matters are as follows.1. This dissertation studies the general structure of the magnetic attracting tracked wall-climbing robot, and presents the conception of stability plane creatively, so that the stability problem of the robot can be transformed into the instabilities of the stability plane. The stability conditions of the robot and the judging rules for the leading instability are discussed. The quantitative relation between the stability of the robot and the attracting force is given.2. After analyzing of the motion principle of tracked wall-climbing robots, the robot is equated with a special wheeled mobile robot. Through theoretic research and digital simulation, the general dynamic model and kinematic model are proposed, and the general method for trajectory planning is presented.3. This dissertation accomplishes the hardware and software designing of the control system. Considering the practical attitude errors in the robot's oilcan testing tasks, we study the attitude control algorithms of tracked wall-climbing robots and propose a PID controller.Based on all the theoretic and technical studies above, this dissertation develops the model machine of the oilcan testing wall-climbing robot, and makes experiments on its motion performance and eddy testing effects. These experiments indicate that the robot testing system has large load capability, reliable motion stability, high localization precision and highly automatic level. It greatly improves the efficiency of oilcan testing.