Mechanical Structure and Control System Design of Derusting Wall Climbing Robot of Permanent Magnetic Adsorption Type

摘要

In order to solve the problem of rust removal on the inner and outer surface of petrochemical storage tanks that consumes a lot of manpower and material resources during the operation, a derusting wall climbing robot of permanent magnetic adsorption type was designed. Firstly, the mechanical structure design idea is carried out. Then, the force received by the robot which affects the stability of the robot movement is analyzed by the statics motion calculation formula. Finally, the real-time control system software of the robot is designed to realize the movement of the robot. The purpose of this paper is making the robot to be a remote control tool to help workers finishing petrochemical storage tanks rust removal operation.