Research On Tank Painting Robo

Large steel tanks require regular paint maintenance.The tank painting robot can replace the manual maintenance of large storage tanks,which can greatly improve the efficiency of painting and ensure the safety of operators.The existing tank painting robots mostly use permanent magnet wheel type and permanent magnet crawler type,which have problems such as small load,difficult disassembly,and poor ability to overcome obstacles,which are difficult to apply to practical projects.In this paper,a new type of multi-legged electromagnetic adsorption painting robot has been developed,which can effectively solve these problems and has high engineering value.It is of great significance to promote the development of special tank painting robots.This paper firstly investigates the latest technology of wall-climbing robots at home and abroad,analyzes the advantages and disadvantages of various structural schemes,and determines the robot scheme of electromagnetic adsorption,multi-legged obstacle crossing,and motor drive;the designed painting robot adopts a new type of eccentric wheel.The walking principle,coupled with the power-on and power-off coordination of the electromagnet,realizes the walking of the robot;and designed the obstacle-surmounting scheme,the painting scheme and the anti-fall scheme for the painting robot.Secondly,the static model of the painting robot adsorbing the wall surface is established,and the suction conditions and minimum driving torque for the painting robot to stably adsorb the wall surface are analyzed.The magnitude of the adsorption force under the two dangerous conditions provides a theoretical basis for the stability of the painting robot’s adsorption wall;through the finite element simulation,the mechanical structure strength and reliability of the painting robot are evaluated.Finally,according to the operation process and characteristics of the tank painting robot,the hardware of the painting robot control system is designed and selected,a multi-motor control system based on the CAN open protocol is established,and the control logic of the tank painting operation is given.The motor is debugged to verify the feasibility of CAN open communication to control the synchronous rotation of multiple motors.The new painting robot developed in this paper has novel walking principle,simple structure,low control difficulty,and has improved the robot’s load capacity,obstacle crossing ability and adsorption stability,which can ensure the stable operation of the painting robot on the tank wall.