Design And Analysis Of Double-section Robot For Dust Removal On The Inner Wall Of The Converter Valve Hall

The converter valve is the core equipment of the converter station.The converter valve hall is used as a building to replace the converter valve.The cleanness of its inner wall is of great significance to the stable operation of the converter valve.The inner wall of the valve hall is a special structure and has many obstacles.Therefore,ordinary wall dust removal equipment currently on the market cannot carry out dust removal,so a double-section robot dedicated to dust removal on the wall of the converter valve hall is designed,and carried out an analysis and research on it.The working environment and major technical indicators of the robot is analyzed,and the various composition schemes of the robot are discussed.The adsorption structure,transmission mechanism,guiding scheme,cleaning mechanism,etc.are designed for the operating environment,and a double-section climbing wall robot is proposed.The type selection of the chain drive and the check of the key axes were carried out.The mechanical model of the double-bottom robot's vertical climb,obstacle transient and steering was established.Three kinds of instability of the robot is analyzed,the quantitative relationship between the minimum adsorption force and the wall inclination angle ? in stable adsorption is obtained.According to the dynamic model,the quantitative relationship between the robot driving torque and the adsorption force with the inclination angle ? was obtained.Case analysis and track internal force analysis were performed.Mechanical analysis provides theoretical support for structural design,simulation optimization and experiment.The magnetic field characteristics of the magnetic adsorption device were analyzed by Maxwell software,starting from the magnetization direction,arrangement method,and structure size,so that it can increase the magnetic utilization rate as much as possible while satisfying the adsorption force required for climbing;Using the Workbench platform,the finite element stress analysis of the fuselage connection module is performed and optimized.The ADAMS software was used to simulate the dynamics of the robot,and the dynamic characteristics of the robot under different adsorption forces were obtained.The correctness of the theoretical analysis and the rationality of the structure were verified.And provide a reference for the experiment.The prototyping was completed,and the yield test of the connection module and vertical climbing,guiding,cleaning and obstacle crossing tests were performed.The results show that the robot can work stably and the obstacle height can reach 12 mm.The experiment verifies the reliability of the robot and the rationality of the design.In this dissertation,a double-section robot is designed for the working conditions of the inner wall of the converter valve hall.Its mechanical model is established,and the robot is analyzed,simulated and tested.The robot has strong obstacle-resilient ability and can be guided autonomously.It is suitable for wall cleaning with obstacles such as screws and ribs on the wall.