Study Of The Structure Of Wall-Inspecting Robot On Chemical Container In Service

As storage containers or reaction containers, chemical containers are operated in corrosion, high temperature or high pressure environment for a long time. So degradation, brittle fracture or fatigue fracture occurs easily. In order to make chemical vessel operate safely, the regular safety inspection must be carried on. The development of wall-climbing robot technology supplies a new technology platform for the safety inspection. The research of wall-inspecting robot becomes a hotspot in the field of robotics.In this paper, based on the development status of wall-inspecting robot at home and abroad and use bionics theory, a new wall-inspecting robot adopted foot-crawler walking way is proposed. It solved the conflict of security and flexibility because of using one kind of walking and adsorption way. According to the functional requirements, the robot is made up by tracked vehicle, anti-overturning mechanism, inspecting mechanism, and use permanent magnetic adsorption and vacuum absorption.The influence factors of safety of wall-inspecting robot were analyzed. The analysis of adsorption reliability of the robot was carried out from the angle of preventing overturning and sliding, and the program of improving the flexibility of the robot on the basis of ensuring the safety of the robot is proposed. Static analysis of key parts of the robot was carried out, and structure optimum proposal of increasing the safety of the robot was put forward.Kinematics analysis of wall inspecting robot was carried out. The movement gait of robot was planned. Forward and inverse kinematic equations were derived of the using D-H method. Expression method of space position of parts in motion was obtained.Based on virtual prototype technology and combined with Solidworks and ADAMS, the dynamics and kinematics simulation of wall-inspecting robot were carried on. The rationality of gait when the robot is walking and turning was proved through kinematics simulation. The dynamic characteristics of robot and the influence factors of dynamic characteristics instability were analyzed through dynamics simulation. The methods of enhancing stability of the robot were proposed.