System Design And Characteristics Research Of Oil Tank Crawling Robot

At present, traditional manual methods are still adopted in the cleaning and testing operation of oil tank, which exist lots of problems such as high labor-intensive, long construction period, poor security, low oil recovery, environmental pollution and so on. With the growing emphasis on environmental protection, human operation has no longer met the objective requirements of the environment and development. It has become a historical necessity to eliminate the manual operation. In recent years, more and more research departments has focused on the wall-climbing robot field, and they have done a lot of useful exploration work from theoretical basis, structure and control system, hoping to replace manual operation with intelligent wall-climbing robots.Firstly, this paper briefly introduced the domestic and foreign present research of wall-climbing robots, focusing on their characteristics and practical conditions, then pointed out the crawling robot system of this thesis.Secondly, structure and function requests of the robot are analyzed in detail. According to the task requests, the mechanical structure of robot system can be divided into three major parts: magnetic disk driving mechanism, absorbing structure with variable magnetic force and regulating mechanism of steering. Then, this paper carried on the analysis in theory and structure design of three modules, chose main parts of each module.Thirdly, the hardware system of the robot was built based on DSP2812, including motion control module, driving module, sensor detection module and camera module. And design the upper machine and lower machine programs with Visual C++.Fourthly, the ANSYS is used to carry out simulation analysis of the variable magnetic adsorption device, getting the magnetic flux density distribution and magnetic absorption force, which were compared with the test results.Fifthly, a dynamic model of the weld seam surmounting process was established. The virtual prototype of robot through dynamic simulation software ADAMS has been built. The variable curve of magnetic force is given by dynamic simulation, which is compared with the testing data. The reasonableness and practically of the proposed structure are verified by analysis.Finally,Experimental system has been designed to examine robot's key parameters and performance. Experimental data shows that the Robot's each parameter satisfies the design requirements.