内浮顶罐清洗机器人的尺寸优化

发布时间：2018-04-15 19:34

本文选题：内浮顶罐 + 清洗机器人　；参考：《油气储运》2017年11期

【摘要】：针对目前内浮顶罐清洗机器人质量大,不便于运输,变形机构设计较复杂等问题,提出轻量化、小型化的优化目标。对机器人进行受力分析,采用力矩平衡稳定分析方法,通过理论计算对机器人宽度和接地履带长度进行优化。并针对机器人工作过程中爬梯进罐、罐内制动两种特殊情况,利用力矩平衡方程,分析优化后的尺寸是否满足稳定性要求。为了进一步验证优化结果的合理性,采用ADAMS仿真软件,分别对清洗作业、爬梯进罐、罐内制动3种情况进行仿真分析,根据机器人重心到支点的连线与地面形成的夹角变化,判断机器人是否会发生倾翻,并根据仿真结果得出机器人不发生倾翻的临界条件,从而为内浮顶罐清洗机器人的后续研究提供借鉴。
[Abstract]:Aiming at the problems of large mass, inconvenient transportation and complicated design of deformation mechanism, the optimization goal of lightweight and miniaturization is put forward for the cleaning robot of inner floating roof tank.The mechanical analysis of the robot is carried out and the torque balance stability analysis method is used to optimize the robot width and the length of the earthing track by theoretical calculation.Aiming at the two special situations of climbing ladder into tank and braking in the tank during the working process of the robot, the torque balance equation is used to analyze whether the optimized size can meet the stability requirements.In order to further verify the rationality of the optimization results, ADAMS simulation software was used to simulate and analyze the cleaning operation, climbing ladder entering tank and braking in the tank respectively. According to the angle between the robot center of gravity to the fulcrum line and the ground,According to the simulation results, the critical conditions for the robot not to overturn are obtained, which provides a reference for the further study of the robot for the cleaning of the inner floating roof tank.
【作者单位】：北京石油化工学院;国家工程机械质量监督检测中心;
【基金】：北京市教委科研计划资助项目“成品油内浮顶储罐清洗机械机器人关键技术研究”,KM201510017006 北京市属高等学校“长城学者”培养计划资助项目“加油站埋地油罐机械清洗系统的关键技术研究”,CIT&TCD20150317 2016年国家级大学生创新创业计划资助项目“多通道液压卷管器机械系统设计”,2016J000063 2016年北京市大学生科研训练项目“内浮顶罐清洗系统控制系统设计”,2016J000064 北京市属高等学校青年拔尖人才培养计划资助项目“基于工业机器人的假肢接受腔柔性加工系统研究”,CIT&TCD201404104
【分类号】：TE972;TP242

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