Development of a wall climbing robot for ship rust removal
Development of a wall climbing robot for ship rust removal
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DOI：
10.1109/icma.2009.5244801
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发表时间：
2009-09
期刊：
影响因子：
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通讯作者：
Zhengyao Yi;Yongjun Gong;Zu-wen Wang;Xingru Wang
中科院分区：
文献类型：
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作者：
Zhengyao Yi;Yongjun Gong;Zu-wen Wang;Xingru Wang
设计了一种用于船舶除锈的爬壁机器人，作为超高压水射流成套设备的除锈执行机构。它的主要功能是板锈清洁剂。因此，它是一种大载荷的爬壁机器人。详细介绍了机器人的结构和工作原理。解决了汽车爬坡过程中大载荷的吸附技术、驱动技术和控制技术三个关键技术问题。首先，分析了吸附机理，选择了永磁体的类型。其次，考虑管道载荷重量和重心位置的变化，得到了爬升驱动力矩方程。根据爬坡驱动力矩方程，对驱动特性进行了仿真分析。最后，设计了一种可通过手持控制盒进行远程操作的控制系统。样机和实验表明，该机器人吸附机构工作可靠，驱动系统和控制系统工作正常。
A kind of wall climbing robot for ship rust removal (WCRSRR) is designed, which is the rust removal executive body of the ultra-high pressure water jetting complete set of equipment (UHPWJCE). Its main function is boarding a rust cleaner. Therefore, it is a big loading wall climbing robot. The robot structure and working principle are introduced in detail. Three key technique questions are solved about the big loading in the auto climbing process, which are adsorption technique, driving technique and control technique. Firstly, the adsorption mechanism is analyzed, and the type of permanent magnet is chosen. Secondly, the climbing driving torque equation is obtained by considering the change of the weight of pipeline load and the gravity center position. According to climbing driving torque equation, the driving characteristic is analyzed by simulation. Finally, the control system is designed, which can be manipulated by a hand-holding control-box remotely. The prototype and experiments show that the robot adsorption mechanism is reliable, the driving system and the control system work in a good condition.