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.