Abstract
The main body of the LPG (Liquefied Petroleum Gas) spherical tank is a spherical shell, which is a component to store materials and bear the working pressure of materials and the static pressure of the liquid column. Because most spherical tanks are pressure or cryogenic vessels, most materials are flammable and explosive, and the loading capacity is large. Once an accident occurs, the consequences will be unimaginable. Therefore, more and more companies and research institutes are now involved in the research of robots suitable for the operation of spherical tanks. Among them, the foundation and premise of the spherical tank climbing robot are stable and have reliable adsorption capacity. Based on in-depth investigation and research on the existing robot adsorption structure and considering its actual working conditions, this paper designed an adsorption technology based on the combination of permanent magnetic adsorption and electromagnetic adsorption, which mainly focuses on permanent magnetic adsorption and automatically adjusts the electromagnetic adsorption force according to the robot attitude. Thus, the robot has good adsorption and driving performance at any position on the ball wall.
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