The Study Of Wall Climbing Robot For Removal Rust In Vessels

At present, in China the work of removing vessels’ rust is still using the blasting way of traditional manual hand-held spray gun spraying dry sand. This is a kind of high pollution, high-risk, high-cost ways of working. It is a trend to use the ultra-high pressure water-jet attaching de-rusting assembly equipments to remove vessels’ rust. This technology have mature in developed country, but relatively backward in China.The subject comes from Shenzhen Technology Development Project "study the vessel wall climbing robot technology and complete the ultra-high pressure water-jet attaching de-rusting assembly equipments development". The ship rust climbing robot that this paper studied is a major part of the ultra-high pressure water-jet attaching de-rusting assembly equipments. The robot task is to bring ultra-high pressure cleaning device stable adsorbed on the wall outside the ship and to move flexibly. Ship rust climbing robot automation technology is a key technology for implementing ship automation rust, and this paper’s study has important significance.This paper presents a kind of permanent-magnet adsorption tracked ship wall-climbing Robot and introduce the robot’s driving mechanism, the obstacle-surmounting mechanism, permanent magnetic adsorption mechanism and ultra-high pressure cleaning device. According to the structure and work environment of the robot, analyze the robot’s force for stationary status, straight situation and turn situation. Then establish mathematical models of force and make. According the result of numerical simulation analysis, to determine the adsorption force of robot permanent magnetic system and the driving torque of robot driving system. Confirm the value of the coefficient of friction between the robot and the vessel wall according to the mathematical model. According the track tension analysis to determine the specific parameters of the spring and the cylinder in robot’s obstacle-surmounting mechanism. Using Ansoft Maxwell that is a finite element analysis software to analyze the relationship between different magnetic circuit or the size of parts in the magnetic circuit with magnetic force. And do the magnetic experiments by universal testing machine to prove the accuracy of the simulation. Select the appropriate structure and size for robot permanent magnetic system. Eventually developed a climbing robot prototype, and test the prototype’s performance.