Design And Research On Mechanical System Of The Refined Oil Internal Floating Roof Tank Cleaning Robot

With the rapid development of oil tank cleaning industry,state and industry on the oil tank cleaning safety and environmental requirements are increasingly stringent,enterprise itself on the economy and efficiency of the improved gradually attention,objectively together to promote the cleaning technology development in the direction of highly automated,no personnel to enter the tank,simplified industry.Due to the social demand for refined oil gradually lifted,the refined oil inner floating roof tanks has become increasingly common.The traditional cleaning methods for crude oil and simple structure storage tank as the main service objects,Which has exposed poor adaptability,risk of high and low efficiency.In view of this,the robot technology was first introduced to the refined oil inner floating roof tank cleaning has important meaning.Refined oil floating roof tank cleaning environment,many factors considered in robot design,more difficult.Due to there has been a lack of related theoretical and technical research,the primary work of this dissertation based on engineering application is as follows:1.Research on cleaning process and cleaning method the refined oil internal floating roof tank.This part summarizes the characteristics of the robot's working environment,discusses the composition of the robot cleaning system.Based on the research of the water jet cleaning mechanism,analysis and select the basic parameters of the water jet.Based on research of 180° cleaning model effective cleaning range,put forward a dead zone eliminating method,introduces the regular hexagon topology to establish the full working area cover model with a minimum working point.Finally,considering the tank structure and sediment physical state,targeted cleaning-schemes are put forward based on the engineering application.2.Research on the requirements,principles and schemes of mechanical structure design.According to robot's working environment and cleaning-scheme,types selection and calculation are made for tracked mobile mechanism.Adopts deformation method for the robot pass manhole,derives the relationship between parameters of hydraulic cylinder and crank,and then the mechanism design is determined.Application umbilical cable and pipeline design basic principle to determine the design and layout scheme of umbilical cord structure and robot inner pipeline.According to the specification requirements of the equipments in the explosion hazardous areas,the compound explosion proof design of the robot is carried out,and finally completed the processing and assembly of the prototype.3.Research on motion principles and dynamic characters of the robot in typical work conditions.Based on the travel theory,four typical work conditions are studied: uniform motion in a straight line,zero radio turning,climbing over the guided ladder and cleaning.It analyses the basic requirements to ensure the normal working of robot,establishes kinematic and dynamic models.According to MATLAB simulation,the motion principles of robot are analyzed,and robot general control strategies in application are given.4.Experimental research.Build a robot test system,designs the hardware and software structure of control system which allows an expansion room for the cleaning system.Several experiments are studied in this dissertation such as uniform linear motion performance test,passing performance of the guided ladder test and cleaning performance test.Some simulation results are verified.