Authors

Abstract

The existing equipment for cleaning large tanks has the problems of simple structure and single function. In order to solve this problem, a robot is designed to clean solid residues in tank, which integrates shoveling, crushing, sweeping and suction. And the crushing system of the robot is structurally designed and analyzed. Firstly, the crushing system is simulated and analyzed by using EDEM software. Then, the optimal operating parameters of the crushing device are determined by studying the effects of rotary knife pitch, rotary knife speed and rotary depth on the crushing rate. Finally, the crushing test is carried out on the cleaning robot, and the crushing rate is obtained as 83.6%, and the results show that the robot control system meets the design requirements. The study provides a certain reference for the research and development of the cleaning robot.

Abstract in Chinese

现有清理大型贮罐的装置结构简单、功能单一，为解决这一问题，以贮罐作为研究清理对象，提出了一种清理贮罐中固体残留物的机器人设计方案，研制了一种集铲装、破碎、清扫、吸尘为一体的清理装置，并对破碎装置进行了优化设计分析。使用EDEM软件对机器人进行仿真分析，研究旋耕刀间距、旋耕刀转速和旋耕深度对破碎率的影响，分析确定了破碎装置的最优工作参数；通过对清理机器人进行性能试验，破碎试验得到破碎率为83.6%，该研究从结构设计到试验验证，为清理机器人的研究与发展提供了一定的参考。