DESIGN AND RESEARCH ON THE CRUSHING SYSTEM OF THE TANK CLEANING ROBOT

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.