Optimization Design And Experimental Study Of The Refined Oil Internal Floating Roof Tank Cleaning Robot

The reserves of product oil play an important role in the national economy,and the requirement of regular cleaning of oil tank makes the cleaning work more and more heavily.With the continuous improvement of people's awareness of green production,the traditional cleaning methods are eliminated gradually.But cleaning robot operation is no personnel into the tank,safe and efficient,has become a new industry.A variable form of the refined oil internal floating roof tank cleaning robot was developed by my research group successfully.But there are many problems in the first generation prototype,such as the large weight,the large volume and the uncertain position of the external pipeline.In order to solve the above problems,this paper takes the lightweight and miniaturization as the optimization goal.The optimization design idea is from the whole to the local,the optimization design and the improvement design union.Specific research contents are as follows:1.Research on optimization theory,optimization method in ANSYS workbench and optimization scheme.The basic principle,mathematical model and three elements of optimization design are discussed,and the design variables,objective functions and constraint conditions of the optimal design of the cleaning robot are cleared in this part.Based on the analysis and comparison of several optimization methods in ANSYS workbench,the method of Six Sigma sensitivity analysis and multi objective driven joint optimization are adopted in this paper;Based on the analysis of the theory and method,the optimization scheme of cleaning robot is put forward in this part.2.Research on the optimization design of the whole structure size.Based on the stability of the working state,under the premise of the robot's quality and height,the length of the optimized robot(ground track),wide,through the force analysis and calculation are determined in this part;the method of theoretical calculation and ADAMS simulation are used to verify the stability of the robot under special conditions.3.Study on Optimization of crawler chassis structure and the analysis of improving traction performance.This part is based on the importance of crossbeam,on the basis of static analysis,Six Sigma method of sensitivity analysis is used to determine the most influential design variables of the objective function.And the multi-objective optimization method is used to determine the optimal values of the design variables.Through the analysis of track structure influence on traction performance of cleaning robot in different thickness of sludge,the method to change the structure of the increased traction is put forward.4.Research on improvement design of parts.Based on the analysis of the existing problems in the design of the nozzle bracket,a unique design of the deformable sprinkler support is proposed.And based on crank rocker mechanism of the maximum output torque analysis and calculation,the best fulcrum of the hydraulic cylinder,and through modal analysis are determined to consider the rationality of the structure.Based on the analysis of the local pressure loss of the typical channel of the integrated block,the straight and tapered pipeline switching device is designed in this part.5.Prototype test research.Physical prototype is manufactured and test system is built and the effectiveness of optimization is verified by the experimental study.Through basic function test,the rationality of the optimization is also verified in this part.