Study on Negative Pressure Adsorption Characteristics of Ship Climbing Robot

Abstract

Given the current ship climbing robot that is easy to magnetize the ship’s outer wall and is heavy in weight, and the problem of the change of the inclined angle of the outer ship wall and the friction state of the wall surface, a negative pressure adsorption ship climbing robot has been developed. First of all, the working requirements and negative pressure adsorption principle of negative pressure adsorption ship climbing robot are analyzed, and the factors affecting the formation of negative pressure are obtained. Then, under the static condition, the mechanic model of the wall climbing robot with negative pressure adsorption is established. The relationship between the critical negative pressure adsorption force, the inclination angle of the hull wall and the friction coefficient between the wall climbing robot and the hull wall is studied. The critical angle of the wall inclination angle is obtained when the critical negative pressure is maximum. The research shows that the critical angle can guide the low power control of robot operation. It’s beneficial for the adaptability of wall climbing robot to the change of wall inclination and wall friction state that the friction coefficient between the robot crawler and the ship wall is more than 0.6. Finally, through the wall adsorption experiment of negative pressure adsorption ship climbing robot, it is proved that the designed negative pressure adsorption ship climbing robot can adsorb and walk normally when the hull wall is in a critical angle. It is adaptable to the different inclination angles of the ship's wall. At the same time, the experiment also shows that the climbing robot can work and walk normally on the wet wall with detergent, and cross the arc of 5mm-barrier.d on the style sheet as illustrated by the portions given in this paper.