Design And Analysisof Tracked Wall-climbing Robotfor Ship Derusting

The ship industry plays a decisive role in the development of national economy.And ship derusting is an important link in shipbuilding industry and a key part of ship repairing industry.However,more than 90% of the ship rusthas to do the work with the hand-held spray gun.The copper slagwitch is shotted out from the gun will impact on the ship’s wall to clean the rust.But this approach has many problems,such as high cost,severe environmental pollution,low efficiency,hazardous to the health of workersand it needs auxiliary processes.The above-mentioned reasons seriously hampered the development of China’s ship industry.Therefore,we are in urgent need to improve the ship rust technology.This article mentioned that do the ship rusting work with a wall robots instead of carrying high-pressure water cleaning device.What’s more,the use of vacuum recovery system for rust and waste water recycling canmake the faceto be dry immediately.The purpose ofgreen and efficient rustcan beachieved.For the proposed program,I carried out the following research:First of all,the technical difficulties of wall-climbing robot are analyzed.This article put forward the design goal of wall-climbing robot and formulates the general technical scheme of wall-climbing robot.The wall-climbing robot uses permanent magnet and vacuum negative pressure as adsorption manner.And the mechanical structure of the wall-climbing robot is preliminarily designed.At the same time,the driving transmission element of the robot is selected according to the structure test of the wall-climbing robot.Secondly,this paper points out four key performance of crawler-based ship-climbing wall-climbing robot,namely,the ability of attaching wall,anti-overturning ability,crawling ability and steering ability.Through the working path of climbing robot planning,we found the spatial pose of robot.According thisspatial pose,the static stability analysis and dynamics analysis of the wall climbing robot can be carried out and the magnetic force of the permanent magnet adsorption unit and the driving force of the servo motor can be calculated.Thirdly,the finite element simulation of crawler-type ship-climbing wall-climbing robot is carried out by using the software named Ansys to analyze the structure of the rotating jet of the wall-climbing robot.The Max Well software is used to analyze the range of permanent magnetic force to provide the basis for the design of hood and analys high-pressure water nozzle flow field.The installation target distance and the contraction angle of the nozzle also need structure optimization.Finally,we do the assembly and experimental verification of the robot prototype.Contraposed to the design,optimize and improve the climbing robot in the first few parts,the robot is assembled.And we do the wall-climbing robot experiments to determine whether to meet the stringent requirements of ship rust under the laboratory condition and the actual ship derusting condition of the shipyard.