Design Of Wall-climbing Robot For Ship Sandblasting And Rust Removal

Seawater is severely corrosive to the outer wall of the ship and requires regular maintenance of the hull.Ship rust removal is a key step in the hull maintenance procedures.The traditional method of derusting is a hand-held sandblasting gun,which is transported by a lift to a high-altitude rust-removing operation.This kind of rust-removing method has high risk,low efficiency,high labor cost,serious waste of sand material and serious environmental pollution.With the development of China’s ship repair industry,there is an urgent need for a modern rust removal process.Foreign countries adopt a high-pressure water jet robot to remove rust,but it does not solve the problem of environmental pollution,and the technology is in the stage of confidentiality.Therefore,based on the related technology,this paper designs wallclimbing robot for sandblasting and rust removal of ships,which can replace Manually carrying a spray gun to carry out derusting operation of a 40-meter high-altitude ship,and at the same time,the recycling system recovers and separates the dust after derusting,and reuses it to achieve green environmental protection and safe derusting.Firstly,according to the actual working condition of ship rust removal,the magnetic absorbing crawler wall-climbing robot with permanent magnet as the adsorption mode and crawler as the walking mode is determined,and the key components of the wall-climbing robot are preliminarily designed to complete the 3D modeling of the robot.Secondly,combined with the requirements of ship rust removal,the walking path and space attitude of the wall-climbing robot are determined.By analyzing the force of the robot,the static mechanical model and dynamic mechanical model of the wall-climbing robot are established,and the most dangerous angles and required adsorption forces and torques of the wall-climbing robot under each model are determined by numerical simulation.After that,Ansoft Maxwell was used to perform parametric simulation of the magnetic adsorption unit to determine the optimal value of each parameter and simulate the adsorption force of the auxiliary suction cup.Finally,the control system is designed and developed for the ship rust removal requirements,and the wall-climbing robot prototype is processed and assembled according to the design parameters.The adsorption test of the magnetic adsorption unit was carried out by modifying the universal material tensile testing machine to verify the correctness of the simulation results,and in the laboratory to carry out experiments such as wall,crawling,turning,and obstacles.In the laboratory,the experiment of wall-attaching,crawling,turning,and obstacle-obstacle is carried out.After meeting the design requirements,the laboratory rust removal experiment is carried out.The experiment shows that the ship rust-removing wall-climbing robot system can meet the requirements of ship rust removal.The ship rust-removing wall-climbing robot designed in this paper has large load,stable crawling,high rust removal efficiency and high safety.It has certain application value and research significance.