Design and Experiment of Automatic Painting Robot Using Permanent Magnet Mobile Robot in Ship Cargo Tank

Abstract

In order to build a ship, painting on ship cargo tank is one of the most dangerous parts as it involves working in high altitudes and a closed ship cargo tank. Therefore, researchers have been developing devices that will enable mobile robots to operate on vertical walls. The wall-climbing robots have been widely used to attach on the wall such as suction types. These types can be utilized regardless of the wall material. However, it is required to adhere and control the suction cups. To moderate this drawbacks, this paper proposes an automatic painting robot that uses a permanent magnet mobile robot. Using the magnetic characteristics, this robot can move on the boat vertically and horizontally even while hanging on the ceiling of the ship cargo tank. Also, we made a prototype to test adhesive force of the permanent magnet wheel and mobile robot as well as the towing capacity and auto-piloting ability.

Control System Basic Design of Wall Climbing Robot for Hull Plate Spraying in Dock

“…Other WCR-HPSD function features: mainly is the comprehensive testing, monitoring functions, including anti falling automatic detection function, paint mist concentration detection function, environmental temperature and humidity detection, track monitoring function, full coverage spray quality monitoring function [4][5].…”