Authors

Abstract

Taking the large storage tank as the cleaning object, a cleaning robot integrating shoveling, crushing, sweeping and dust-absorbing was developed, and its dust-absorbing system was analyzed and optimized. Firstly, Fluent-EDEM gas-solid coupling was utilized to simulate the dust-absorbing system. By analyzing the fluid distribution and particle trajectory, the internal structure of the dust collection box was optimized to reduce the dust particles entering the fan box. Then, by analyzing the structural parameters of the suction nozzle, the influence of the nozzle shoulder angle, nozzle length, and shoulder height on the dust-absorbing effect was explored, and the parameters were determined, so as to reduce the energy loss and increase the flow rate on both sides of the nozzle. Finally, through the dust suction test, different models of nozzles were tested for dust suction, and the wind speed at the nozzle was measured, and the leakage of dust particles on both sides of the nozzle was significantly reduced after optimization, which verified the reliability of the simulation results and provided a theoretical basis for the design of the sweeping robot.

Abstract in Chinese

以大型贮罐作为清理对象，研制了一种集铲装、破碎、清扫、吸尘为一体的清理装置，并对其吸尘系统进行研究。首先，利用Fluent-EDEM气固耦合对吸尘装置进行仿真分析，通过对集尘箱中的流体分布和颗粒轨迹进行分析，完成了对集尘箱内部结构进行结构优化，减少了进入风机箱的尘粒；然后，通过对吸嘴结构参数分析，探究了吸嘴肩部夹角、吸嘴长度、肩部高度对吸尘效果影响，确定了吸嘴吸尘性能最佳时的参数，减少了能量损失，增大吸嘴两侧的流速；最后，通过吸尘试验，对不同型号吸嘴进行吸尘测试，将吸尘前后效果进行对比，得出优化后吸嘴两侧漏吸的尘粒明显减少。并对吸嘴处的风速进行测量，将得到结果与仿真数据进行对比，保证了验证仿真的可靠性，从而为清扫机器人的设计提供理论基础。