| With the rapid development of modern society,the level of automation is developing day by day.All kinds of factories are constantly improving their level of automation.The mode of automatic detection instead of manual inspection is becoming more and more popular.The pump house of petrochemical enterprises has a high requirement for the safe and stable operation of equipment,while the traditional pump house monitoring can not obtain the physical state data of equipment operation in real time and intuitively,and can not find the hidden danger of equipment leakage in time.Using inspection robot instead of inspection personnel can truly realize reliable unattended inspection and realize uninterrupted automatic inspection of pump room equipment.However,at this stage,there is no mature product for the industrial inspection robot in the dangerous indoor working environment such as oil refining pump house.Therefore,the inspection robot platform in this paper has great research potential.This paper mainly discusses and studies the main structure design,the selection and design of software and hardware control system,and the precise control strategy of the mobile robot platform.First of all,the configuration design of the inspection robot is completed,and the design,analysis,simulation and improvement of the key mechanical structure of the robot,including the pre tightening force mechanism and the limit structure,are completed,as well as the design,analysis and calculation of the overall structure of the explosion-proof box.As for the problem of dragging wire in the wired scheme,a drag chain scheme is improved to solve the power supply problem of the inspection robot in the inspection process.On the optimization of explosion-proof two degree of freedom pan tilt,a set of solutions is proposed,which is in line with the goal of lightweight design of inspection robot.Finally,I-shaped track installation mode is designed,the center of gravity position of inspection robot is adjusted,and the stress analysis is completed with I-shaped track as the goal.Secondly,the selection and design of hardware system are completed,the electrical circuit system of inspection robot is built,the research and design of software architecture,monitoring system and coordination between them are completed,and the work division and system framework between upper and lower computers are completed.In terms of the precise control strategy of the robot,the control theory and method are designed for the motion control strategy of the inspection robot,and the precise control method of the inspection robot is optimized by using the fuzzy PID controller.Finally,the design,test and data statistics of the relevant experiments are completed for several key problems of the inspection robot hardware module.The experiment mainly includes the feasibility of the preload mechanism of the inspection robot,the stability of the inspection robot under the condition of two drives,the influence of the load on the inspection robot's accurate docking and the test of the sensor accuracy.Through experiments,the reliability of the inspection robot design is verified. |
PDF Full Text Request