The Reseach Of Rust-Removing Robot Based On Composite Adsorption Wall Climbing

As the economy continues to develop,the country’s import and export trade shows a straight upward trend,the Ship has played an important role.Therefore,the maintenance work on the surface of the ship is also an important link to ensure the safety of navigation.Up to now,80% of ships’ rust removal is carried out by manual hand-held spray guns.The manual handheld spray gun pollutes the environment,with low efficiency and strong reaction force;The robot adsorption device is difficult to install efficient rust removal equipment and many other problems,which limit the development of ship maintenance in China.Therefore,it is necessary to improve these rust removal problems in the process of ship use.For the derusting short board mentioned above,this paper designs a brand new adsorption device.In this paper,a composite adsorption module is used to provide the robot with adsorption power,make the robot remove the rust on the wall,thus liberating the workforce.The robot is designed to recycle waste water and waste residue,it is safe,reliable and environmentally friendly,in keeping with the times.The discussion in this article mainly includes the following:First,according to the practical problems encountered in the process of rust removal,the design difficulties of the wall climbing robot are determined.Aiming at the difficulties,the overall target parameters of the robot in this paper are determined,and the overall mechanical structure of the robot is determined.The steady-state analysis is carried out according to the overall structure,and the design and selection are made according to the various important components of the robot.In this paper,the method of combining electromagnet and permanent magnet is determined as the design of a non-contact ship rust climbing wall climbing robot.Secondly,the adsorption device combining electromagnetic and permanent magnet is discussed in detail.In order to improve the key stability performance of the compound wall climbing and derusting robot,they are reliable adsorption performance,anti-roll shedding performance,load performance and flexible performance.The modelis established in 3D software,and the stability is analyzed according to the model,so as to meet the steady-state performance requirements of the robot.By comparing the adsorption capacity of the device with that of a single magnetic material,the variation curve of the adsorption capacity of the device was summarized,and the advantages of the device combining electromagnet and permanent magnet were analyzed,which laid a solid foundation for the following design.Thirdly,the strength of the rusting swing rod structure of the ultra-high pressure water jet is analyzed,and the fluid structure of the ultra-high pressure water jet is analyzed.An uhp water derusting model was established and finite element simulation was carried out in COMSOL simulation software to analyze the optimal distance between uhp water derusting and the wall surface and the optimal shrinkage Angle of the high-pressure nozzle.The influence curve of these two factors on the rust removal pressure changes,so as to optimize the rust removal effect.Finally,in order to make each part work well in coordination,the software and hardware design of each part is carried out to ensure the safe and efficient collaborative work of the wall-climbing robot.After testing each component of the robot,the robot was assembled into a verification machine,and the designed wall-climbing robot was verified by experiments under the permitted conditions.