Structure Design And Motion Control Research Of Wall-Climbing Robots Baced On Petrochemical Tank Painting Operation

Petrochemical storage tank is an essential equipment for refining enterprises,and used to store gaseous,liquid and other corrosive chemical raw materials and products.In order to ensure the long-term use and safe operation of petrochemical storage tanks,it is necessary to regularly carry out maintenance work of painting and anticorrosion.The traditional artificial painting method of high cost,low efficiency and harm to human health has been unable to meet the current process requirements,and has the urgent need to be replaced by a high intelligent robotic operations.However,wall-climbing spray painting robot based on petrochemical tank maintenance operations generally has disadvantages of complex structures,poor wall adaptability,and poor moving flexibility at home and abroad.In this paper,aiming at the shortcomings of the existing technology,a wall-climbing spray painting robot with flexible motion,good surface adaptability and high working efficiency was developed by the structural design and motion control methods from the perspective of practical application.The main research contents and innovations of this paper are as follows:1.Surface-adaptive spring suspension walking module and multi-degree of freedom painting robot arm module was designed and optimized based on definite working environment and painting task requirements of robot to realize moving flexibility,surface adaptability and efficient operation.And a wall-climbing robot of four wheel drive using permanent magnet was developed.2.Firstly,the robot kinematics model was constructed,and the inverse kinematics solution was solved according to the definite trajectory movement;Then,the kinematic model of turning motion is constructed based on the second Lagrange equation method and the obstacle crossing process was studied deeply;Finally,the kinematics and dynamics emulation was carried out to verify that the moving trajectory,driving torque and the change of the adsorption force and the friction force in the obstacle course satisfy the theoretical analysis.3.A motion control method of force / position hybrid was proposed to realize intelligent and safe control based on the kinematics and dynamics analysis of the robot;And the software and hardware of the robot control system were designed to build the whole control system based on the modular design concept.4.By setting up the experimental platform of wall-climbing robot,the experimental research was carried out on the load carrying capacity,climbing performance,turning performance and spraying painting efficiency.As a result,the rationality of the robot system and the accuracy of theoretical analysis were verified.The experimental results showed that it meets the requirements of flexibility and efficient operation of wall-climbing robot at this stage.