A Design And Study Of Four-wheel-adsorption Wall-climbing Robot

In order to solve the high condensation point and high wax content during the delivery of petroleum crude, heat medium heater is used in delivering crude. Due to coking and dusk accumulation in the internal burning, heat medium heater needs regular cleaning and guarantee of heat transfer efficiency. So far, regular cleaning still depends on manual cleaning and soot blowing after workers enter the chamber. Bad working environment, low-efficiency soot blowing and high work intensity largely influence workers'health. Based on the practical need in station yard, the paper raises assumption that uses robot which can crawl along tube wall automatically to complete the cleaning task. The paper mainly studies the design and analysis of tube-wall robot.The main content is as follows:The first part is about Introduction to development process and application of wall-climbing robot both at home and abroad plus analysis and research based on the feature of heat medium heater. It also brings up the idea that uses four-wheel-adsorption wall-climbing robot with dusk-cleaning brush to complete the cleaning task. The paper determines the basic structure and scheme of robot body and the design of mechanical structure of every part. After that, it has detailed introduction to dusk-cleaning device, control part and power part, also the process-map drawing.Then, here comes the field distribution inside the permanent magnet and the adsorption force of tube wall by magnet wheel by using the software to conduct two-dimensional and three-dimensional finite element analysis. Besides, optimum structure of magnet wheel is worked out by ANSYS, and also the working capability of robot in practical working conditions by imitation analysis with the robot.The kinetic model of the robot design is based on Lagrange's equation and solved by virtual-displacement principle while the statics model is established on Newtonian mechanics. On this basis, the drive-torque curve and friction curve (the greatest friction and the actual friction between the magnetic wheels and the pipeline) are worked out on analysis on different location of the pipeline.Three different designs of robot before, as well as their test-results, provided great reference and practical significance to the design of four-wheel-adsorption wall-climbing robot.