Magnct Adsorption Climbing-Robot Research Based On Steel Wall

Wall-climbing robot is an important branch in mobile robot field. It combines the ground mobile robot technology with adsorption technology. It can be attached in a vertical wall when crawl and can carry tools to complete certain tasks, which in greatly expand the robot's applications. At present, the wall-climbing robot is mainly used in the nuclear industry, petrochemical industry,shipbuilding,fire department,investigation activities and so on. The field of wall-climbing robots have emerged a large number of fruitful results in the past 30 years, especially in the 20th century, 90 years, the field of wall-climbing robot developed rapidly both at home and abroad. In recent years, due to the variety of new technology, many technical problems of wall-climbing robot had resolved, greatly promoted the development of wall-climbing robot.A new type of wall-climbing cleaning robot is designed for the cleaning requirements of the steel walls by a power plant of Datong.According to the particularity of Robot working environment and flexible requirement of Robot movement, the style of permanent-magnet adsorption and wheel movement are choice. And according to the mechanical structural and calculate results which are designed and computed, a non direct contact magnetic absorption method is choose, and the finite element method is used to design and optimize the adjustable pole permanent magnet adsorption adhesion that would meet the computing requirements.A control system based on ATmega16 hardware programs is designed. Respectively, the smallest control system of the microcontroller systems, communications module, brushless DC motor drive, speed module, power module, and several other modules were introduced and analyzed. Based on the hardware system, the software solution used to control robot motion is proposed and the software used to control robot motion is designed.