Lightweight design about the wallclimbing and polishing robots

YE Yufeng1, XIA Li1, XIANG Zhi1, CAI Gangyi1, PAN Baisong2

(1.Zhejiang Province Special Equipment Inspection and Research Institute, Hangzhou 310020, China;
2.College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China)

Abstract: Aiming at the problems of low efficiency and poor consistency about artificial grinding in the wall surface weld and heat affected zone of large containers, the polishing effect and influence factors of grinding process were analyzed according to the grinding process requirements. Then the requirement analysis was based on the research result , the general function diagram and functional principle model were established. The structure scheme was designed through the comprehensive comparison of principle solution to general function. The key structure of the wall climbing robot was researched in detail and the grind experiments was carried out.The results indicate that when the noload speed is 4 000 r/min and positive pressure is 10 N, the polishing process achieve the best; the grinding efficiency of the robot is 1.12 m2/h, the polished wall has mirror effect and the roughness Ra is less than 25 μm which have meet the design requirements, this research have high engineering application value.

Key words: wallclimbing robots; large pressurized vessel; grinding process; grinding effect; structural scheme