Design and Experimental Study of a Large Spherical Tank Wall Paint Removal Robot

Yang Huailin; Liu Chunhua; Chen Xiaohui; Deng Xiandong; Gao Runzhi; Xia Yi; Zang Hongbin

doi:10.16578/j.issn.1004.2539.2024.01.022

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Design and Experimental Study of a Large Spherical Tank Wall Paint Removal Robot

Development·Application | 更新时间：2024-12-13

- Design and Experimental Study of a Large Spherical Tank Wall Paint Removal Robot
- Journal of Mechanical Transmission Vol. 48, Issue 1, Pages: 151-158(2024)
- 作者机构：
  
  1.西南科技大学制造过程测试技术省部共建教育部重点实验室，四川绵阳 621010
  2.中国空气动力研究与发展中心，四川绵阳 621000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.01.022
  CLC：
- Published：15 January 2024，
  
  Received：18 October 2022，
  
  Revised：01 November 2022，
- 稿件说明：
移动端阅览
杨怀林,刘春华,陈晓辉等.大型球罐壁面除漆机器人设计与实验研究[J].机械传动,2024,48(01):151-158.

Yang Huailin,Liu Chunhua,Chen Xiaohui,et al.Design and Experimental Study of a Large Spherical Tank Wall Paint Removal Robot[J].Journal of Mechanical Transmission,2024,48(01):151-158.
杨怀林,刘春华,陈晓辉等.大型球罐壁面除漆机器人设计与实验研究[J].机械传动,2024,48(01):151-158. DOI： 10.16578/j.issn.1004.2539.2024.01.022.

Yang Huailin,Liu Chunhua,Chen Xiaohui,et al.Design and Experimental Study of a Large Spherical Tank Wall Paint Removal Robot[J].Journal of Mechanical Transmission,2024,48(01):151-158. DOI： 10.16578/j.issn.1004.2539.2024.01.022.

摘要

为解决大型球罐压力容器表面三层高强度环氧漆打磨问题，设计了一款大型球罐壁面除漆机器人，并对其开展了实验研究。机器人主要包括爬壁吸附系统和自适应打磨系统。通过对海尔贝克阵列永磁体研究，仿真分析履带结构永磁体吸附力与工作间隙的关系，研发了一款吸附稳定、越障性能优越的爬壁吸附系统；针对弧形壁面打磨情况，设计了一款基于电流反馈的自适应打磨系统，并分析金属丝打磨辊力学模型，研发多样金属丝打磨辊。对机器人进行测试，打磨效果良好，机器人可以对环氧漆打磨并露出金属光泽，且是人工打磨效率的3~10倍。该研究为球罐高强度环氧漆打磨提供了新打磨工具，保证了打磨质量，提高了打磨效率。

Abstract

In order to solve the problem of polishing three-layer high strength epoxy paint on the surface of large spherical tank pressure vessels

a large spherical tank wall paint removal robot is designed

and the experimental research on it is carried out. The robot mainly includes a wall climbing and adsorption system and an adaptive grinding system. By studying the permanent magnet of Halbach array

the relation between the adsorption force of the permanent magnet of track structure and the working clearance is simulated and analyzed

and a wall climbing adsorption system with stable adsorption and superior obstacle climbing performance is developed. According to the grinding condition of the curved wall

an adaptive grinding system based on current feedback is designed

and various steel wire grinding rollers are developed by analyzing the mechanical model of the steel wire grinding roller. The robot is tested

and the polishing effect is good. The robot can polish the epoxy paint and show the metallic luster

and its efficiency is 3-10 times that of the manual grinding. A new polishing tool is proposed for ball tank high-strength epoxy paint polishing

which ensures the polishing quality and improves the polishing efficiency.

关键词

爬壁机器人永磁吸附磁力仿真三层环氧漆打磨打磨效果

Keywords

Wall-climbing robotPermanent magnet absorptionMagnetic force simulationThree layers of epoxy paint polishingGrinding effect

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