Structure Design And Simulation Of Dual-body Wall-climbing Robot For Oil Tank Inspection

With the rapid development of the petrochemical industry,the volume and quantity of oil storage tanks as crude oil storage devices are gradually increasing.Because the working time of the oil storage tank is long,the environment is complex,and its tank body is prone to pits,cracks and other defects,which will cause safety accidents,so the oil storage tank needs to be inspected and maintained regularly.The existing manual detection methods not only take a long time,but also have low safety,so it is necessary to develop a tank wall-climbing robot as a working platform to automatically detect the inner wall of the oil tank,which not only improves the work efficiency,but also has higher security.In this thesis,according to the practical application environment of oil tank inspection robot and the research status of wall-climbing robot at home and abroad,a dual-body wall-climbing robot for oil storage tank detection is designed.The main contents of the research are as follows:(1)Considering the complexity of the internal environment of the oil tank and the functional design requirements of the wall-climbing robot,the overall structure design scheme of the wall-climbing robot is put forward,and the walking mechanism,adsorption device and transition mechanism of the wall-climbing robot are designed.(2)Magnetic circuit design and magnetic adsorption device optimization.Based on the analysis of the advantages and disadvantages of common magnetic circuits,a new double-layer Halbach magnetic circuit is designed,and the magnetic adsorption device is optimized,and then the magnetic adsorption force under different working gaps of the magnetic adsorption device is analyzed,the variation curve of the magnetic adsorption force with the working gap is obtained,and the effective working gap of the wall-climbing robot is determined.Then,the variation of the magnetic force with the rotation angle during the wall transition of the wall-climbing robot is simulated and analyzed,and the adjustment law of the magnetic force with the rotation angle during the wall transition is obtained,which lays a foundation for the magnetic force control during the wall transition of the wall-climbing robot.(3)Motion analysis of wall-climbing robot.Through the static analysis,the safe adsorption force of the wall-climbing robot is obtained.On the premise of ensuring the safe adsorption force,the motion state and wall transition of the wall-climbing robot are analyzed,and the driving requirements of the wall-climbing robot are obtained.Through the study of the obstacle-crossing process of the wall-climbing robot,the relationship between the obstacle height and the obstacle angle is obtained.(4)Simulation analysis and verification of virtual prototype.Based on the three-dimensional solid model of the dual-body wall-climbing robot,the virtual simulation model of the wall-climbing robot is established,and the omnidirectional motion,wall transition and obstacle crossing of the wall-climbing robot are simulated and analyzed.The simulation results verify the control strategy that the magnetic attraction force varies with the rotation angle during the wall transition,and show that the structure of the dual-body wall-climbing robot is reasonable and feasible.(5)Preliminary exploration of the control system of the dual-body wall-climbing robot.Combined with the function of the dual-body wall-climbing robot,the overall control scheme is put forward,on the basis of which the STM32F103C8T6 single chip microcomputer is selected as the main control unit,and the drive motor control module and power supply voltage conversion module are designed.