Study On Ship Hull Derusting Wall-Climbing Robot

As a special type of working robot, wall-climbing robot has been used widely in many fields, such as nuclear industry, petrochemical enterprises, architecture, fire fighting, shipbuilding and ship repairing etc. Unique of its special characteristics, wall-climbing robot has been provoking high attention world widely ever since it was born in 1960's. The ship hull derusting wall-climbing robot studied in this thesis is supported by the project "study and development on ship hull super-high pressure water jetting derusting mechanics and unitized equipment technology" cooperated with Nan Tong COSCO Shipyard, aiming at developing a wall-climbing robot for ship hull super-high pressure water jetting derusting. It has wide application value in fields of shipbuilding and ship repairing.Firstly, the research and development survey of wall-climbing robot both abroad and home have been systematically summarized in this thesis. Basic of this and considering the function requirements of ship hull derusting operation for wall-climbing robot, the structure scheme which adopts permanent magnetic adsorption, crawler movement and AC servo motor driven for the robot has been put forward. According to the scheme, adsorption mechanism, driving system, transmission mechanism and vacuum rust removal for derusting have been designed; According to the model of ship's lines, general space attitude of wall-climbing robot has been built up. The static force and stability of wall-climbing robot under arbitrary space attitude have been studied systematically, and emulation analysis has been made for the result of theoretical study. The quantitative relationship for reliable adsorption and magnetic absorption force of wall-climbing robot has been obtained; With the knowledge of theoretical mechanics, the dynamic force and driven balance of wall-climbing robot have been studied deeply, and combined with emulation analysis, the necessary conditions needed for driving system of wall-climbing robot under movement has been acquired; Finally, according to the requirements of ship hull derusting operation for the control system of wall-climbing robot, the control scheme which adopts two stage distributed control system with host and slave computer has been determined. Then the hardware and software of host and slave computer control system have been designed individually. On this basis, the hardware of wall-climbing robot's control system has been put up and relative experimental tests have been done. It provides a foundation for moment control of wall-climbing robot.