Structure Design And Analysis Of A Wall-Climbing Derusting Robot

Storage tank is a necessary and important infrastructure in the daily production of petrochemical industry.During the operation,the internal and external walls will rust due to the pollution of moist air and residual oil.In order to improve the service life of the storage tank and reduce the incidence of accidents such as leakage and explosion,it is necessary to remove rust and anticorrosion operations regularly.The traditional artificial sand blasting is not only harmful to the natural environment and workers' health,but also has many problems,such as large labor intensity,long construction period and poor safety.The wall-climbing robot instead of artificial and Water jet instead of sand blasting are the inevitable trend of the development of storage tank anticorrosion.But the wall-climbing robot has the problems of weak adaptability,small load,poor flexibility and single working surface when water jet rust removal is carried out for the storage tank.In order to solve these problems,a kind of wheel type permanent magnet adsorption wall climbing robot was designed.The main research content and innovation results are as follows:1.According to the storage constraints on the robot,based on modular design,from the wheel suspension mechanism,starting with four aspects of the wheel suspension mechanism,the driven wheel mechanism,the manipulator module and the whole machine seal,the mechanical system model of the wall-climbing robot is established;Basis the requirement for the adsorption force of a robot without losing its stability,be based on Magnetic and electrical beneficiation,a magnetic pole mounted arc permanent magnet adsorption mechanism is designed,calculation model of magnetic field is established.The optimal design of the coupling mode of the permanent magnet structure parameters and the magnetic pole is completed by the control variable method.The relationship between the adsorption force and the adsorption gap is verified by the experiment.2.According to the water jet reaction model,based on the statics,completed the analysis of mechanics model of the robot and the obstacle of instability,get the requirement for the adsorption force and the relationship between the robot's obstacle performance and the body structure parameters;the simulation curve shows that the body structure parameter influences of instability for adsorption the critical value of the robot,and provides the basis for optimizing the structure of vehicle body.3.The kinematic model of the robot moving platform is analyzed by using the non-comfortable steering model,and the kinematics equation of the robot is obtained.The D-H method is used to construct the coordinate system of robotic manipulator and connecting rod,and the position and attitude transformation matrix and inverse kinematics of the manipulator are obtained.Based on the Newton-Euler dynamics,the dynamic model of the straight and turning of a wall climbing robot is established,the influence of the turning radius and the structure parameters of the body on the flexibly coefficient of the turning is studied.4.A prototype of a wall-climbing robot is made,build the test platform,a series of comprehensive tests are carried out on the motion flexibility,load performance and obstacle avoidance performance of the wall climbing robot;The water jet rust removal test was carried out on the wall-climbing robot at the storage tank site,the wall-climbing robot carried out the test of water and sand rust removal in the shipyard.The test results show that the structure of the wall-climbing robot is reasonable,the theoretical analysis is correct and the effect of rust removal is good,and it can act as the water jet rust removal operation of the tank.