Study of the Wall-Climbing Robot for Hull Painting

摘要

This paper designed a wall-climbing robot for painting the hull surface. The robot walked with caterpillar, permanent adsorption and driven by AC servo motor, the paint system was controlled by solenoid valve and pressure pump. Control system uses the supervisory computer and lower computer of two-stage distributional control mode. And the robot itself is equipped with a visual system to observe the spot of spray paint conveniently, in order to achieve better control of the robot. At last through the calculation of two spray path, find the best path and simulation, results show that the robot can realize the function of spray paint better preferable.