永磁轮式爬壁除锈机器人控制系统*

油罐除锈作业中,存在粉尘弥漫、气源噪音巨大、罐内照明不足等问题,在该环境操作人员进行除锈作业时,对其生命安全带来极大威胁。针对上述问题,研制出对油罐内外壁进行除锈作业的爬壁除锈机器人。首先,针对该类型机器人的技术难点,对机器人爬壁吸附方式进行选型分析。在此基础上,对爬壁除锈机器人的实时控制系统软件概述;并对爬壁除锈机器人主控模块功能进行概述。最后,通过现场实验的方式验证机器人的除锈作业方式。经过多项测试,实验结果表明爬壁除锈机器人能够代替操作人员完成油罐内外表面的除锈作业,极大提高作业效率并有效降低操作风险。

Control System of Wheeled Permanent Magnet Wall-climbing Descaling Robot

A descaling operation robot is developed for oil descaling operations. Because there is dust filled, huge air noise, inadequate lighting within the tank and other issues, the operator operating the harsh environment, the life-threatening to the operator a great threat. Firstly, mathematical modeling of robots is established and adsorption mode selection is analysis. On this basis, an overview of the control software of the descaling operation robot and the function of the main control module of the descaling operation robot are explained in detail. Finally, the way of the descaling operation of the robot is verified by field experiments. The experimental results show that the descaling robot can finish the descaling work on the inner and outer surfaces of the oil tank, effectively reduce the operation risk and improve the working efficiency.