Design And Research Of Tank Car Cleaning Robot Based On Magnetic Adsorption

Tank car is used as transportation and storage tools for petroleum derivatives including gasoline,diesel,and crude oil.Tank car cleaning robots can replace the manual cleaning of the tank car interior,simplify the existing tank car cleaning process,improve the degree of automation in the cleaning process,and greatly improve the tank car cleaning efficiency and cleaning reliability.In order to complete the automatic cleaning of tank car,this paper designs a tank car cleaning robot based on magnetic adsorption.The overall mechanical mechanism scheme and the non-contact magnetic adsorption module scheme are introduced in detail.The reliability of the whole structure is verified by static simulation.The automatic cleaning process of tank car is designed according to its operation requirements.According to the process requirements,the motion coordination relationship between each module and the cleaning track are analyzed.The tank car cleaning robot needs to move along the tank bus during operation,so the motion compensation based on fuzzy PID is adopted.At the same time,the reverse impact force of the high-pressure water gun will cause a large overturning moment to the robot,so the parameters of the magnetic adsorption module are optimized through magnetic field simulation to ensure that the tank car cleaning robot can complete the cleaning operation stably under the effect of magnetic adsorption.The control system of tank car cleaning robot mainly includes the user interface in upper computer and the control program in lower computer.The control program is based on Beckhoff controller,which can control each module of the tank car cleaning robot in real time and encapsulate the automatic cleaning program.This paper verifies the reliability of the control system through experiments.The control system can complete the robot’s motion control and function control of each module,and the whole automatic cleaning process can be realized just by inputting tank car’s size and motion speed.The tank car cleaning robot added with motion compensation algorithm can run stably with high straightness during the automatic cleaning process.