Structure Design and Analysis of a Wall-Climbing Robot for Removing Stains on the Side Shell Plate

In the process of using the ship for a long time, there will be stains or rust attached to the surface of the paint on the outer plate of the ship; To solve this problem, an omnidirectional wheeled permanent magnet adsorption wall-climbing robot equipped with a derusting device is proposed in this paper. The derusting device is driven by a motor to realize lightweight design. A multi-state motion model is established to analyze the stability of the robot on the complex wall surface. The gap permanent magnet adsorption device model was constructed, and the static magnetic field simulation analysis was carried out based on Maxwell. The prototype test results show that the robot can move stably on a complex inclined wall and has a large load capacity.