Key Technology Research Of Tank Wall Climbing Robot

Wall-climbing robot is a branch of the limit Robot, which aims to replace human beings under the dangerous condition such as petrochemical business, the nuclear industry, construction industry, fire departments, shipbuilding industry, with very wide range of uses and high value. In this paper, according to oil storage tank operations wall climbing, studied the wheel magnetic wall-climbing robot system, due to different adsorption conditions when wall-climbing robots climbing in different parts of the tank, in order to improve system stability, reliability and flexibility, it is essential to reasonably control e the magnetic absorption force.Studying tank wall-climbing robot is great significance to the development petrochemical enterprises. In order to solve some key technical issues, the paper established the structure of wall-climbing robot system, adopted the adsorption controlled which combine permanent magnetic wheel adsorption with controlled adsorption plate manner, and then analyzed and simulated the robot kinematics, dynamics, the main research contents are as follows:1. Studied overall structure of wall-climbing robot magnetic wheel adsorption, proposed the adsorption method which combined magnetic wheel and magnetic plate, designed the overall structure of the tank wall-climbing robot.2. Carried out static and dynamic mechanical analysis on typical dangerous location of tank bottom and side when the robot is working, proposed magnetic control program and established kinematics and dynamics models of wall-climbing robot.3. Carried out force stability analysis and dynamic simulation analysis on wall-climbing robot by COSMOSWorks and ADAMS simulation software. Based on theoretical mechanical analysis, this paper carried out statics simulation analysis on main parts of wall-climbing robot by applying COSMOSWorks module, and carried out dynamic performance simulation analysis on wall-climbing robot ontology model by ADAMS software, which verified stability of magnetic force absorption method that combined magnetic wheel with magnetic plate. The magnetic adsorption force of the robot varies with different position while climbing on the wall, improved the robot's magnetic adsorption force distribution through dynamics simulation, and make wall-climbing robot stable and reliable climbing.The tank wall-climbing robot studied in this paper has a high application value especially during the large storage tanks internal and external wall operation in the petroleum chemical industry.