关键词: 爬壁机器人;驱动系统模型;爬壁高度;船壁倾斜角

Abstract:

A wall climbing robot for removal rust in vessels was designed,and the robot structure and working principle were introduced.Through comprehensive
analysis on the weight of pipeline load and the center of gravity position,the driving mechanical models that the robot climbing and turning on the vessel wall were established,and the models were optimized.The climbing driving torque equation was obtained by considering the change of the weight of pipeline load and the center of gravity position.According to climbing driving torque equation,the driving system was analyzed by simulation.Finally,the result shows that the optimized model is reliable,and the permanent magnet adsorption force,vacuum suction force,water jet force,number of permanent magnet,and in practical work,the safety height is over 30 meter with the vessel wall is approximately vertical.

Key words: wall climbing robot;driving system model;climbing height;ship wall tilt angle