The Simulation Research And Experimental Verification On High Pressure Water Jet Based On Wall Climbing Robot For Hull Rust Removal

Shipbuilding industry is one of the supporting industry in our country, which develops rapidly and makes contribution to the economy of our country. Rust removal is a necessary process in the shipbuilding industry. So far the traditional grit-blasting process has still been mainly used for ship hull rust removal, which has a lot of disadvantages such as inefficiency, environmental pollution and danger. The wall climbing robot for ship hull rust removal based on high pressure water jet which has lots of advantages such as efficiency, environmental protection and automation. This paper is a part of the study of the structure design of the wall climbing robot for hull rust removal based on high pressure water jet.The wall climbing robot’s structure mainly consists of the structure of climbing institution and the structure of rust removal cleaner. There were three steps to design the climbing institution. Firstly, the mode of the structure of climbing institution was chosen. Secondly, the force analysis and numerical simulation of the climbing institution and the loads were studied, which could get the force of adsorption and drive. Finally, the design of the structure of climbing institution was completed. The design of the structure of rust removal cleaner was on the basis of the theory of high pressure water jet, the simulation of the flow field and the experimental verification. And the wall climbing robot for hull rust removal was manufactured.The theory about high pressure water jet was studied. The destroy mechanism of high pressure water jet and the pressure distribution of target should be studied intensively. On this basis, the flow field was simulated by FLUENT in this paper. The high pressure water jet characteristics in the flow field were studied. The impact pressure distribution of target was also studied, which included the impact pressure and the shear pressure.The different parameters(injection pressure, stand-off distance, injection angles) of the flow field were simulated to study the impact of rust removal. On the basis of the project, the stand-off distance and injection angles of high-pressure water jet for hull rust removal were optimized when the injection pressure was 200 MPa.To use the equipment we have to verify the simulation results, the different stand-off distance and injection angles of high-pressure water jet were simulated when the injection pressure was 120 MPa. The stand-off distance and injection angles of high-pressure water jet for rust removal were also optimized when the injection pressure was 120 MPa. Then the high pressure water jet incremental sheet metal forming machine was used to remove the rust to verify the simulation results. It inferred the correctness of the process of the flow field simulation and the reliability of the simulation results when the pressure was 200 MPa. It would be guided for the structure design of the rust removal cleaner.