Zuwen Wang

Development of a wall climbing robot for ship rust removal

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.

Optimum Dynamic Modeling of a Wall Climbing Robot for Ship Rust Removal

This paper presents the optimum dynamic model method for wall climbing robot for ship rust removal. The robot includes a frame, two servomotors and reducers, and two crawlers with permanent magnets for walking and absorbing. Its main function is loading the cleaner which can remove the rust on ship surface by water jetting. Because of the water jetting and vacuum recycle rust, the wall climbing robot need load heavy pipelines. The dynamic models of the robot climbing and turning on the ship wall are established and optimized. The climbing driving torque equation is obtained by considering the change of the weight of pipelines load and the center of gravity position. Finally, the simulation analysis shows that the optimum dynamic model and the optimum method are reliable, and the parameters which have main effect on the robot dynamic characteristic are obtained.

Analysis on Turning Stress States of Magnetic Sucking Mechanism Unit of a Large Load Wall Climbing Robot

A rust removal cleanout auto-wall climbing robot has been developed, which works with heavy weight of robot body and load. The robot marching and turning experiments about the magnetic sucking mechanism unit are mentioned, and the destruction test of magnetic sucking mechanism unit is described. According to sliding friction properties and the phenomenon of test, the marching model and turning model are established, and the destruction characteristics are analyzed. Combining the analysis of turning model and the stress analysis, the bracket structure is optimized. The results of turning stress analysis and experiments show that the optimized structure of magnetic sucking mechanism unit is reasonable, and the robot marches and turns well.