Design Of Storage Tank Maintenance And Inspection Robot System

In order to ensure the safe work of petrochemical storage tank,it is necessary to carry out regular maintenance and inspection on the tank wall.However,the current maintenance and inspection method mainly relies on manual reaching the wall height and carrying out work with maintenance and inspection tools,which is not only risky but also inefficient.In order to solve these problems,a robot with various maintenance and detection functions is designed in this paper.Firstly,the overall structure design scheme of tank maintenance inspection robot is given,which is divided into wall-climbing robot and functional module structure design.According to the proposed design objectives,the wall-climbing robot with curvature adaptation function and functional module structure with modular design are designed in detail.Secondly,the mechanical and modeling analysis of tank maintenance inspection robot is carried out.Several mechanical states of the most dangerous and demanding driving force of the robot on the storage tank are analyzed,and the selection of high magnetic field is completed according to the requirements of calculated adsorptive force.A model of curvature adaptation process of the robot is established based on geometric relationship,which verifies the theoretical feasibility of curvature adaptation.Thirdly,the control system of tank maintenance inspection robot is designed,which realizes the function of motion control and remote interaction of the robot.Hardware part includes selection of purchased hardware and design of main control board using EDA.Software part includes design of upper computer interface based on QT and program of lower computer in main control board based on Arduino and STM32 platform.In the process of upper and lower computer interaction,data transmission uses Wi Fi communication,video transmission uses image transmission technology,and remote control uses radio frequency communication.Finally,a physical prototype of the wall-climbing robot is made and various motion experiments on the experimental platform are completed to verify the practicability of the wallclimbing robot.After carrying various functional system prototypes,the experiments prove that the robot can successfully complete the inspection,grinding,painting and cleaning of storage tanks,and verify the rationality and application value of these maintenance and detection functions.