The Research Of Caterpillar Climbing Robot Applied In Ship Detection

Shipbuilding industry is the modern comprehensive industry that it is provided technology equipment for the sea exploitation, marine traffic and national defense construction, and it is the important components of advanced equipment manufacturing industry. While shipbuilding industry in China is in high-speed development, ship detection technology is also improved. The ship detection is the need of guarantying shipping industry implementation strategies in transition, and improving core competitiveness of the shipping industry. As an automatic mechanical devices work in high altitude limit area, wall-climbing robot is the thing that it can be operated on the vertical cliff and applied in various industries for extensive research applications.This paper is introduced "tracked wall-climbing robot" concept after comprehensive research and analysis, and submitted a detection method based on crawler measuring robot and applied in ship detection, replacing human doing hull routine detection in high places, small space or dangerous environments. Through remote control robot move freely, it can be achieved all-round improvement of measurement methods, improving detection efficiency. It is mainly included that the overall design of tracked wall-climbing robot, the design of robot detection system and the processing of the wall-climbing robot. The validity and usefulness is certificated by experiment. The wall-climbing robot can be installed many kinds of the detection devices of ship type, including installed thickness gauge for hull thickness measurement, and lossless testing equipments such as ultrasonic or infrared on testing the leaks and cracks of hull surface, and hull cleaner for cleaning steel surface rust. In addition, the HD camera can be stalled in front-end of robot, achieving real-time control of hull and the online detection through data transfer to control room.The tracked wall-climbing robot is based on the increase and improvement of traditional detection methods, and it has a wall-crawling range speed, moving smoothly, and the max. attainable speed can be up to7m/min. By using permanent magnet adsorption and tracked moving, the ontology structure is guaranteed more than30N weight-bearing capacity. In addition, its anti-overturning bodies is designed to ensure the barrier height of safe crossing not less than10mm. The wall-climbing robot will greatly enhance the efficiency of ship detection, as well as to avoid heavy work and jobs in a harsh environment, promoting the progress of ship detection technology with significant economic and social benefits.