Study Between Permanent Magnetic Adsorption And Flexible Mobile Features Of Wall Climbing Robot In Plant Oil Tank

The construction of plant oil depot has been an important content in oil industry, planttank is the relatively common way of oil storage. Plant oil tank usually adopts the largevertical cylindrical tank. On account of the seasons change and the effect of internal pressure,oil tank will create the wall different degrees of corrosion, leakage and other problems aftermany years. In addition, in low temperature area, to guarantee the performance of the plant oil,we need to heat insulation at the storing period. But it will make the tank produce certaindeformation, and result the change of tank volume. Therefore, we need to regularly to test theplant oil tank. For this situation, the topic proposed a wall-climbing robot which can carry acertain tool to replace manual work on the surface of plant oil tank.According to the actual working environment of plant oil tank, the technical index androute were made, and the system of basic machine and control was designed, a wall-climbingrobot body was designed, which adsorption and mobility are separating. To meet therequirements of stable adsorption and mobility, the adjustable magnetic adsorption device wasproposed. Combined with the existing adjustable magnetic climbing robot, the robotmechanical models in some dangerous situation at tank were established, and identified thesecurity adsorption of critical magnetic adsorption by the analysis. Analysis and design the liftdislocation structure of magnetic adsorption device.And the magnetic field characteristics areanalyzed in the simulation by using Ansoft Maxwell3D software, the distance between theadsorption device and the wall under the working condition was determined. Finally, thekinematics model and dynamics model of robot were carried on simulation analysis by UsingADAMS software. It is concluded that the curve by the influence of different adsorption for the robot motion, and the robot movement on the vertical wall of speed change curve, in orderto verify the conclusion of theoretical analysis.