Research On A Wall Climbing Robot For Boarding Ship Rust Removal Cleaner

The wall climbing robot for ship rust removal (WCRSRR) is a new type wall climbing robot in recent years. The main function of WCRSRR is boarding a rust cleaner, which is a mechanical disc and can directly remove rust on the surface of hull wall by ultra-high pressure water. The rust cleaner can flush, scrub, scrape the wall surface and collect sewage automatically.The WCRSRR has the characteristics as big loading and heavy robot body, and there are water jet kick and vacuum negative pressure force in normal direction of wall surface. The key technology of the robot was analyzed, the theoretical characteristics were studied, such as the adsorption performance, turning performance and driving performance.Compared with the traditional wall climbing robot, the loading of the robot is very large, and the weight of the robot body is heaviest. But, when the loading ability is higher, the robot adsorption is larger. This paper presented a way with considering the vacuum negative pressure force and water jetting force for adsorption performance. The static models for glide and tip back were established. According to the three forced states in normal direction of wall surface, the glide and the tip back models were analyzed, and the forced state of permanent magnetic unit between glide and tip back were compared. The larger adsorption will cause some difficulties when the WCRSRR turns on the hull wall surface, such as the destruction about the magnetic sucking mechanism unit, which may lead to the robot fall off. From this argument, the turning model was set up, and the structure of magnetic sucking mechanism unit was optimized according to the finite element analysis.The weight of the loading pipe and the center of gravity position change with the climbing high. According to the climbing wall working principle, the kinematics models which contain the robot climbing and turning on the ship wall were established. The models were optimized by fuzzy optimization theory and analyzed by simulation, and the safe working range was planned. Then the kinematics climbing ability was analyzed, and the relation between climbing high and ship wall tilt angle was discussed with theoretical torque, maximum torque and rated torque. The fixed loading climbing and variable load climbing experiments were tested by a prototype. Finally, the result shows that the optimal model was reliable, the permanent magnetic adsorption force, vacuum force and water jet force had little effect on kinematics characteristics, but the robot body weight, climbing high and ship wall tilt angle had great effect on it, and the planned safe working range was reasonable.According to the three aspects of the basic analysis, the prototype was made,and the controller test, permanent magnet performance test and permanent magnetic and vacuum mixed adsorption test were conducted. Based on the disadvangtages, a design scheme of the improved WCRSRR was proposed, and the driving performance was optimized, and the walking obstacle negotiation performance was analyzed, and the graph of the comparison between the original and improved three sprocket obstacle negotiation performance was proposed.