Research Of Underwater Robot Climbing On The Wall By Thrust Adsorption

Wall-climbing robot, which is one of the robots that can work in the dangerous environment, is used to the nuclear industry, petrochemical enterprise, shipbuilding industry instead of the humans. It received extensive attention of all countries in the world since the 1960 s. This paper is about the underwater robot climbing on the wall by thrust adsorption, which is mainly used to observe and test the underwater structures, owning high application value and researching significance.Firstly, this paper systematically introduces the researching status and application situation of the domestic and overseas climbing robots, and understands the types and characteristics of climbing robots. Combining with the working environment and task requirements of the robot, it confirms the overall scheme of the robot and determines to adopt the propeller thrust adsorption and the wheel moving methods through analysis and comparison.Then the mechanical model of the wall-climbing robot has been established. It gets reliable adsorption condition of the robot mainly by calculating the static analysis and anti-overturning condition, and further gets the best adsorption force applied to the robot by using UG and the dynamic analysis software ADAMS for simulation analysis, laying a foundation for the design of adsorption device.The detailed design of the robot’s mechanical system primarily includes the design of mechanical body, the design of the adsorption device and moving institution, the design of the umbilical cable and water joint, the design of the underwater camera and lighting system along with the design of the dynamic seal and static seal, etc. The virtual prototype model of the robot has been set up by the utilization of UG. Then the author purchases the standard parts of the robot, machine the non-standard parts and then assembles all the parts. Finally, the physical prototype of the robot has been completed.The next part comes up to the design of the wall-climbing robot’s control system, which chiefly embracing the hardware design and the software design. Among which the upper machine adopts the PC and make use of VB to compile the control interface, while the lower machine adopts the Arduino microcontrolle for the design of each hardware module, the software programming as well as the debugging of the control system.The last part summarizes the research contents and makes an expectation on the further researh direction and contents.