Development of a wire-driven wall-moving robot equipped with an IH coating remover.

This paper describes the development of a wire-driven wall-moving robot equipped with an IH type paint-coating remover. When removing deteriorated paint from steel bridges for maintenance, it is necessary to heat the paint using an IH type paint-coating remover. However, the equipment is heavy and has a wide working range, so it is necessary to mechanize the work. To mechanize the work, the equipment must be mounted and moved on the wall surface. Magnetic suction and vacuum suction are the methods used to move the equipment on the wall surface, but both are susceptible to the condition of the wall surface and have safety issues during the movement. In this paper, we propose a method that uses a wire to move the wall surface in all directions with only a winding motion. If the wire is always connected to the frame, the possibility of falling can be reduced and safety during movement can be ensured. It is possible to minimize the impact of power loss or unexpected external forces on the robot.