Design Of Key Structures Of Mobile Robot For Lifting Plate And Inspection

The electrolysis system of the nickel electrolysis workshop adopts the "nickel sulfide soluble anode diaphragm electrolysis" process to produce refined electrolytic nickel.During the electrolysis process,workers need to regularly check the conductivity state of copper rods and deal with poor conductivity in time,and detection and processing operations are time-consuming and laborious.Therefore,this paper designs an industrial patrol robot for the nickel electrolysis workshop,which adopts a gate-shaped structure and a working range,in view of the dense copper rod layout in the nickel electrolysis workshop,the narrow working environment of the roadway,and the task requirements for improving the conductive state of the copper rod.At the same time,it occupies a small area and can move independently in the workshop,detect and improve the conductivity of copper rods,and realize automatic inspection work.The main research contents of this article include:1)Combine the on-site environment and target tasks of the workshop with demand analysis and environmental adaptability analysis,and design a general scheme suitable for the electrolysis workshop.2)Carry out the end trajectory analysis and motion analysis of the key mechanism for completing the torsion task of the copper rod in the plan,establish a mathematical model of the mechanism,solve its end trajectory,and obtain the optimal rod length parameter according to the demand,and The reasonable driving mode and driving position are determined through the motion analysis of the mechanism.3)According to the overall scheme of the field combined with the analysis of the onsite environment and needs,complete the structural design of each module of the lifting plate inspection robot,determine the parameters and models of the relevant standard parts,motors and reducers,and perform the stress analysis and strength calibration of the main stressed components nuclear.4)Carry out static analysis on the important force-bearing parts(including largespan door-shaped bracket,double rocker drive assembly and copper rod gripper)in the lifting plate detection robot,and optimize and improve according to the analysis structure.Carry out dynamic simulation on the key moving part-double rocker mechanism to verify the rationality of the mechanism design and the accuracy of completing the target action.