Design and application of petrochemical inspection robot

In order to meet the needs of petrochemical tank farm inspection, a tank farm double-compartment inspection robot is designed, which has the function of gas detection, video monitoring and laser obstacle avoidance. With wheeled mobile mechanism adopted, the robot complete the inspection work by four-wheel drive mode. Through Adams software, the robot can cross over obstacles, climb slope sand ditch, turn at right angles and complete kinematics simulation analysis. The simulation results show that its obstacle-crossing height is 126.5mm, the climbing angle is 35, and the trench width is 250 mm. Using this robot, the patrol operation of tank farm can be realized, which greatly reduces the intensity of personnel patrol operation. Compared with manual inspection, inspection is more accurate and efficient.