Design Based On Flip Tank-dust-cleaning Robot

Petroleum crude produced in China is mostly“Three High”oil (i.e. , high freezing point , high water content and high viscosity),which is inappropriate or impossible to be delivered isothermally. Therefore, heating furnace is widely used in the remote delivery of petroleum crude, and is a significant device for the oil field prospecting & exploitation and oil & gas transmission . At present , heating furnace is mainly pipe-style , and petroleum crude flows within the pipe , and oil(gas) fuel makes heat by burning in the furnace tank . However , it is inevitable that heat conduction pipe will desposit on its furnace after working for a while. Deposition contains acidic materials, which causes heat efficiency lower, and fuel oil consumpt- ion and operating cost will rise, and at the same time, it will also corrode the pipe, which is very unsafe. Therefore, dust cleaning is the key approach to raise heat efficiency and ensure the pipe’s safety.According to difficulties with manual dust-cleaning task on heating furnace and halmfulness to the worker’s health, and combined with the furnace’s characteristics, a kind of flip robot working between parallelled pipes in the heat furnace tank is designed to fulfil the dust-cleaning task, and the thought of changing track automatica -lly is put forward in the dissertation.The motion principle of robot is first demonstrated in the dissertation, and dynamic analysis is performed based on second Lagrange function and principle of virtual work, and relevant dynamic function is established and solved; static analysis is also made by using global method from Newtonian mechanics, mechanical characters of every part is also solved under different working condition, which provides theoretical basis for structure and function design of robot.Based on module design idea, robot’s structure is divided into three different unit module, i.e. flip, walking and dust-cleaning unit module according to its function, and concrete mechanical structure of robot’s every unit module is designed out; Then, the analysis of motor selection in structure design is made emphatically, and the checkout task of the parameters in the transmission mechanism is fulfilled. On the basis of working principles and process of robot, control system of robot is designed, and its overall building thought and internal structure is demonstrated, and control flow chart based on the control system is provided.Experiments are performed for relevant mechanism, and experiment result is analysed and studied, and the correctness of the design of relevant module and function validity is proved, which provides great reference for the flip pipe-climbing and dust-cleaning robot.