Structural Design And Mechanics Research Of Storage Tank Wall-climbing Robot

The storage tank is the most important storage devices in the petrochemical industry.The medium it stores is flammable,explosive and corrosive.Under the combined action of pressure inside the tank and rainwater,the tank wall is prone to defects such as depressions,cracks and holes,which can lead to tanks.Failure to leak,even causing fire and explosion;In response to this problem,the use of manual scaffolding at home and abroad for the regular inspection and maintenance of storage tanks,due to the labor intensity and long cycle,and the existence of safety hazards,with the increasing environmental protection of the petrochemical industry in China,people expect to replace manual work by developing automated inspection equipment.The tank climbing robot developed in this paper is suitable for large storage tanks.The main research contents are as follows:(1)According to the task requirements and design principles of the wall-climbing robot,different schemes are proposed.Based on the environment and engineering actual cost requirements of the wall-climbing robot,the adsorption mode,movement mode,detection and driving mode of the wall-climbing robot are designed.And a wheeled ultrasonic probe was designed and manufactured.(2)The adjustable permanent magnet adsorption mechanism is designed.The finite element simulation is used to quantitatively analyze the magnetic adsorption force.It analyzes the influence of the arrangement of permanent magnets on the magnetic properties,and analyzes the quantitative relationship between the air gap and the magnetic adsorption force.It meets the adsorption requirement of the wall-climbing robot.At the same time,the analysis of the magnetic field distribution and permanent magnet adsorption force is carried out,and the adsorption force experiment platform is built to test the permanent magnet adsorption force.(3)The static stability of the wall-climbing robot is analyzed.It is concluded that the main factor of the static instability of the wall-climbing robot is the wall-slipping instability,and the minimum magnetic adsorption force to ensure that the robot does not fall and lose stability is 664N;Based on the integral model of the interaction between the four-wheel climber and the vertical wall in the steering process,the frictional force and the steering resistance torque equation at the contact of the drive wheel during the steering process are derived,and the optimal steering radius is 0.The most suitable adsorption force is 1000 N and the maximum load weight is 27 kg.(4)In order to test the wall-climbing robot,it introduced the hardware structure of the wall-climbing robot control system,and carried out the experimental tests of wall linear motion,steering motion,obstacle avoidance and obstacle-obstacle,which verified the effectiveness and practicality of the mechanical structure design of the robot.It meets the performance requirements of the design.