Wall-climbing Descaling Robot Recovery System Of Large-scale Facade And Robot Body Design

Large steel facades are widely used in industrial production activities,such as ship's outer walls,steel structure of bridge,and large industrial storage tanks,etc.The outer wall of such industrial products will rust during use,which will shorten the service life of industrial products and increase the probability of product accidents to a certain extent.Therefor,it is essential to perform regular derusting and maintenance work on such products.However,the most of the follow-up protection of rust removal has not been fully implemented.For example,the rust removal products are directly discharged into the surrounding environment.The rust removal product contains sewage,rust residue,and oil pollution,which is harmful to the surrounding environment,so it is necessary to install a recovery device on the derusting robot.By consulting the relevant literature,this article mainly analyzes and designs the derusting recovery system and the design of the body of the derusting robots.The main research contents of this article are as follows:(1)Study on the starting principle of derusting products on the wall.Through the stress analysis of the particles,small droplets and their mixtures in the rust removal product under the critical starting state.Get the starting wind speed of particles and droplets at different radii respectively.And the maximum negative pressure required when the suspension is sucked up.(2)Internal fluid simulation of vehicle recovery tray.Create a porous media model based on the brush's own characteristics.Through modeling and Fluent fluid simulation analysis,the preliminary pressure difference between the inlet and outlet of the recovery tray under different wind speeds is obtained.Finally,simulate the export volume of the recovery tray and the pressure difference between the import and export respectively and get the best solution.(3)Optimization simulation of permanent magnet module and design of car body structure.On the premise that the car body does not slip and overturn,Carry out mechanical analysis of the car body,Obtain the minimum suction force required by the permanent magnet module,Finally,Ansoft magnetic simulation optimization of the robot permanent magnet adsorption module,And designed the body structure of the wall-climbing robot.(4)Check the strength of the ground vacuum tank structure.By analyzing the pressure loss and partial pressure loss in the rust recovery system,Combined with the fluid simulation results,two parameters,pumping volume and vacuum,are obtained to complete the selection of the vacuum pump.By obtaining the size of the vacuum degree inside the vacuum recovery tank,finite element analysis of the tank body is performed through Ansys software.