Wall-climbing Robot Design And Property Study Based On Surface Testing Of Petrochemical Tank

Wall-climbing robot,a significant part of intelligent technology industry development of China in the future,has been applied to more and more occasions.It can do more works under harsh and extreme environments substituting for human,including the periodic testing for cracks,corrosion,failure and weld defects of storage tanks or pipelines,and cleaning or painting on ship hulls.Periodic testing is needed to guarantee the security of the huge pressure vessel like the oil tank.But building scaffolding around these vessels is a requirement of testing on which testing personnel with handheld device carries out work,causing huge amount of construction work,high risk factor,a longer testing cycle.Thus an auto-testing robot is becoming an urgent need reducing the labor costs and operational hazard.Based on much literature and numerous wall-climbing robot structures home and abroad,and concerning the actual working condition,a novel storage tank testing wall-climbing robot was designed in this thesis.The main research contents of this paper are as follows:(1)On demand of the motion on circular curved surface and the obstacle surmounting over the welding seam,wall-climbing robot moving mechanism adapting circular curved surface was designed.On demand of tank testing,NDT mechanism was worked out.Further the whole structure of wall-climbing robot was formed.(2)In terms of the motion state of this wall-climbing robot on the tank,statics and dynamics were analysed and simulated,which obtain the reliable adsorption force needed.According to the relationship between adsorption reliability and adsorption unit,magnetic circuit analysis was accomplished and magnetic wheel was designed concerning the principle of light weight structure.Aiming at highest magnetic utilization,the magnet sizes was optimized with the application of Ansoft software.(3)According to the requirement of electrical control function,the control schematic was designed,which is a combination of OMRON CP1E-N60DT-D PLC and DC servo driving system.Finally,storage tank testing wall-climbing robot was manufactured.Then the movement performance and the testing accuracy experiments were conducted,which verified the rationality of this Wall-climbing robot.