The Design And Research On Large Container Climbing-Grinding Robot

The work of grinding weld area on large chemical containers surface is an important part in their periodic inspection, traditional manual grinding methods are still widely used which exits lots of problems such as high labor-intensive, long construction period, poor security and so on. To improve these unfavorable factors, it is necessary to develop a grinding robot which can replace the traditional manual grinding. As we all know, climbing robot technology is increasingly maturing, we can use climbing robot carry grinding apparatus to execute the grinding work. In this paper, mechanical system program and key structures of the climbing-grinding robot are designed by the functional principle design method, the robot moving on the wall is simulated, the static and dynamic characteristics of the robot are analyzed. The main works are as follows:1. The mechanical system program design of the robot. In this part, the robot design requirements are analyzed firstly, then the mechanical system function is designed by functional principle design method and the optimal principle schemes are selected by comparative analysis. To verify the correctness of the principle schemes, a climbing robot is made for experiment. At last, the robot mechanical system program is designed.2. The key structures design of the robot. Firstly, the adsorption force and the driving torque is preliminary calculated; Secondly, adsorption module permanent magnetic program is discussed, through simulation and experiment, the structure of the adsorption module is designed; Thirdly, the structure of moving module and grinding module is designed, simultaneously, the selection of drive motor and grinding motor is finished. Finally, the3D model of the robot mechanical structure is given.3. The robot virtual prototype simulation of moving on the wall. The robot ADAMS simulation model is established to simulate the two kinds of robot motion, one is vertical climbing, and the other is direction changing; By the simulation, the velocity, acceleration, and the contact force between the wheel and the wall is got, the result shows that the robot can be adsorbed on the wall and moving stably.4. Analysis of the robot static and dynamic characteristics and its optimizing. The static, modal and harmonic response analysis is simulated, based on the results, the robot structure is optimized; By comparison with the original program simulation, the overall performance of the optimized robot has been significantly improved, finally, some parts of the robot are produced.