A Study on Ultra-High Pressure Water Jet Wall Climbing Robot for Removal Rust in Vessels

Abstract

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.

Design and optimization of a permanent magnet crawler for a marine wall-cleaning robot

“…As mentioned above, the wall crawler uses permanent magnetism to provide a reliable magnetic force. The choice of magnetic material for wall climbing robots generally requires the following: (1) the magnetic energy product of the permanent magnet material should be large, which is the ratio of the adsorption force provided by the permanent magnet material to its mass, the larger the magnetic energy product, the lighter the robot's mass will be; (2) wall climbing robots generally use ultra-high pressure water jets [2] to clean the walls, which can be as high as 90°C, so the working temperature of the permanent magnet material must be no less than 90°C; (3) as wall climbing robots are used in cleaning operations, the working temperature of the permanent magnet material must be no less than 90°C. (3) As the magnet will be in constant contact with the wall during the cleaning process and the wall surface is not flat, the permanent magnet material must have good magnetic stability.…”

“…Fig. 5 Effect of the length of the unit permanent magnet on the unit magnetic attraction force (2) The influence of the unit permanent magnet height w value on the unit magnetic absorption capacity was studied by assuming l=50mm, h=15mm, S=3mm, x=15mm, and the influence curve of width h and unit permanent magnet absorption capacity was calculated by simulation using Maxwell software, as shown in Figure 6. (3) By studying the influence of the unit permanent magnet height h value on the unit magnetic absorption capacity, assuming l=50mm, w=20mm, S=3mm, x=15mm, and using Maxwell software's simulation to calculate the influence curve of height h and unit permanent magnet absorption capacity, as shown in Figure 7.…”

Applications of Water Jet Cutting Technology in Agricultural Engineering: A Review

“…There are many specific advantages that have been found. For example, the water jet cutting process will not cause problems such as a heat-affected zone and thermal deformation, which can avoid fire hazards [16]. Unlike traditional cutting tools contacting objects directly, which need to sharpen, clean, and change blades in time, water jet cutting has a non-contact way and can save time and labor by less often replacing worn nozzles [17][18][19].…”