Research On Control System Of Rust Removing Robot For Petrochemical Storage Tank

With the rapid development of industry,cleaning of wall rust layer of large scale chemical storage tanks in petrochemical industry has become a huge project.Traditional rust removal methods are inefficient,and long time derusting will seriously affect the health of operators and cause environmental pollution.On the contrary,robot rust removal has reduced labor intensity and reduced environmental pollution.A rust control robot control system has been designed for the rust removal operation of petrochemical storage tanks.The main work and innovative results of this paper are as follows:Firstly,according to the operation characteristics and functional requirements of the rust removing robot,the overall scheme of the control system of the rust removing robot is put forward,and the architecture of the robot control system,the hardware system and the software system are designed in detail.Secondly.The kinematics model of the derusting robot body,the kinematics model of the manipulator and the overall kinematics model of the robot are established respectively.The motor three closed loop control system was optimized by the PID control algorithm,and the attitude control algorithm of the rust removing robot was designed.The driving performance of the derusting robot was analyzed.The correctness of the kinematics model of the derusting robot and the driving performance of the derusting robot were verified through the simulation experiment.Thirdly.The process of removing rust in petrochemical tank is analyzed in detail,and a high pressure water jet removing process is selected for energy saving and environmental protection.A large surface derusting path suitable for the removal of rust in petrochemical tank is designed,and the operation path planning of the rust removing robot is completed.A robot control strategy is designed for different tasks to achieve full scale and efficient rust removal.Finally.The integration of high pressure water jet derusting system of the rust removing robot is completed.Through a large number of field tests,The wall walking ability of the derusting robot,the flexibilities of the turning,the weight bearing capacity,and the quality and reliability of the high pressure water removal are tested.The test results show that the control system designed in this paper can meet the functional requirements of rust removal operation for the derusting robot.