大型油罐智能喷砂除锈系统设计及动力学分析

为满足油田对于大型油罐环保高效除锈设备的需求，根据油罐具体结构和除锈技术，设计了一套工作于油罐内壁的智能喷砂除锈系统，系统包括罐内的旋转式桁架轨道、特殊机械手、运输小车、爬壁小车和罐外的喷砂回收装置，该系统提高了除锈作业的工作效率和自动化水平，避免了除锈过程中的粉尘污染。建立系统的动力学数学模型，通过刚体动力学仿真，分析了系统构件运动状态和关键部件承重轮的受力状况。通过刚柔耦合动力学仿真，比较桁架轨道不同高度的位移轨迹，得到最大跟随位移为16 mm，系统能够满足除锈工作的性能要求。

Design and dynamics analysis of intelligent sandblasting rust-removing system for large oil tanks

To meet the needs of the oil field for environmentally friendly and efficient rust removal equipment for large oil tanks, according to the specific structure of the oil tank and rust removal technology, an intelligent sandblasting and rust removal system that works on the inner wall of oil tank is designed. The system consists of a rotating truss track, special manipulator, transport trolley, wall climbing trolley and a sandblasting recovery unit outside the tank. The system improves the work efficiency and automation level of the rust removal operation and avoids dust pollution in the oil tank. The dynamics model of the system is established, and the motion state of the system components and the force condition of the load bearing wheel are analyzed through rigid-body dynamics simulation. Through the rigid-flexible dynamics simulation, the displacement trajectories of the truss track at different heights are compared, and the maximum following displacement is 16 mm, so the system can meet the performance requirements of the descaling work.