Research On Design Of Crawler Wallclimbing Robot For Ship Derusting And Optimization Of Its Magnetic Adsorption Unit

With the environmental protection regulations becoming increasingly stringent,traditional artificial blasting derusting technology can not meet the demand for ship derusting any longer.In order to solve this technical problem,it's urgently needed to develop a wall-climbing robot for ship derusting taking place of manual operations.The wallclimbing robot derust with its cleaning device and it's supposed to be equipped with the ability of adsorbing,loading and obstacle crossing.This paper carries out an in-depth study in this area.This paper presents a new structural design scheme for ship rustremoving wall-climbing robot and introduces its key design scheme.According to the actual work situation,the mechanical model of the robot's sliding instability and vertical overturning instability was established and its force analysis was performed.According to the analysis results,the minimum adsorption force required by a single adsorption unit was calculated to be 597.6N,which provides a theoretical basis for the design of the adsorption unit.According to the robot's different movement postures,the mechanical model of the robot's straight running and turning movement was established and its force analysis was performed.According to the analysis result,the minimum driving torque required for the single-side crawler was calculated to be 197.7N·m,providing a basis for selecting the robot's driving elements.In view of the occurrence of trajectory shift as the robot moves,the steering characteristics of the robot were analyzed,and the relationship between the steering center offset ? and the steering angle ? was obtained,and the maximum offset was calculated to be 72.65 mm,which provides a theoretical basis for adding displacement compensation to the control system.According to the requirement of adsorption force for the robot,a theoretical calculation model of its magnetic field was established.Ansoft Maxwell,a software,was used to carry out a simulation analysis to verify the rationality of its structural design,and to analyze the relationship between the structural parameters L,W,H,h,g and the adsorption force F.Structural parameters were optimized with a multi-factor design method,and the optimized adsorption force was 628 N which was increased by 21.4% and was verified by experiments.Based on the above studies,a wall-climbing robot prototype is finally developed and tested.The tests show that the prototype could meet the ship's derusting requirement.