The Theoretical And Experimental Study Of Air-driven Wall-climbing Robot

A wall-climbing robot is of robots for limited operation, aiming to take the place of human beings to work under hazardous environments such as nuclear power plants, petrochemical enterprises, architecture, fire fighting and shipbuilding etc. It has a wide application and high practical value. Wall-climbing robots have greatly provoked word wide attention ever since it was bom in the 1960s. A wall-climbing robot on water-cooling tubes discussed in this thesis is the robot that sweeps and inspects the water-cooling tubes in the power station boiler.In this thesis, wall-climbing robots are systematically summarized. According to the special conditions on the spot, a wall-climbing robot is developed. The robot is driven by air and sucks the tubes by electromagnet. The cylinder moves robot by driving the slides of the structure. The robot can sweep the dust on the surface of the water-climbing tubes and measure the thickness using the devices installed on the robot. The robot can shorten the working period, raise the efficiency of the power plants, reduce working intensity and improve the measuring precision.The design of magnetic circuit system is closely related to the absorbing performance of the robot. Considering the abnormal structure of the water-cooling tube, the thesis selects a magnetic circuit and designs the parameters of the magnetic circuit. With the finite method software, parameters of the magnetic circuit are verified.Finally, an elementary experimental sample is made. The test on this sample realizes the scheduled aim.