A STUDY ON ULTRA-HIGH PRESSURE WATER JET WALL CLIMBING ROBOT FOR REMOVAL RUST IN VESSELS

摘要

In this paper a Ultra-high pressure (UHP) water jetting removal rust cleanout auto-robot is designed, which works with the high-pressure pump units with pressure 250MPa and the vacuum residue displaced system. It is the implement machine for the removal rust system. Three key technique questions are solved in the cleaning automation process. These are wall attaching, wall moving and wall cleaning technique. Experiments showed that the robot both remove rust efficiently and move agility.