【摘要】 针对船舶立面除锈作业中人工效率低、环境污染严重等问题，设计了一种集高压水除锈与真空回收功能于一体的爬壁机器人系统。通过静力学与倾覆力学仿真验证了机器人在竖直及反斜壁面的稳定性，优化了驱动轮与万向轮的最小吸附力。采用永磁吸附车体与真空回收盘集成方案，基于Halbach磁铁阵列提升吸附力，驱动轮吸附力较传统单磁铁提升58%,并设计柔性越障机构保障密封性。通过多孔介质流场仿真优化回收系统，气流速度达44.75 m/s,配合250 MPa高压水喷头实现了除锈产物近零排放。实船测试显示，本文所设计的机器人能够在船舶外板立面上吸附可靠、运动灵活，能够进行有效的回收除锈作业。更多还原

【Abstract】 To address the issues of low efficiency and severe environmental pollution in manual ship hull derusting operations, this study designed a wall-climbing robot system integrating high-pressure water derusting and vacuum recovery functions. Through static and overturning mechanical simulations, the robot’s stability on vertical and inverted inclined surfaces was verified, and the minimum adsorption force for the drive wheels and casters was optimized. The system adopts an integrated design of a permanent magnet-adsorbed chassis and vacuum recovery disc, utilizing a Halbach magnetic array to enhance adsorption force, resulting in a 58% increase in drive wheel adsorption force compared to traditional single magnets. A flexible obstacle-crossing mechanism was also designed to ensure sealing performance. By optimizing the recovery system through porous media flow field simulations, an airflow velocity of 44.75 m/s was achieved, enabling near-zero emissions of derusting byproducts when combined with a 250 MPa high-pressure water nozzle. The actual ship tests show that the robot designed in this paper can adhere reliably and move flexibly on the facade of the ship’s outer panel, and can carry out effective rust recovery and removal operations.更多还原