Climbing-robot Research Based On Steel Wall

The wall-climbing robot is one kind of special robots for special assignments which is mainly used for climbing the vertical wall or spherical wall,and taking the corresponding devices for such functions as wall-cleaning, testing, painting, pipeline-laying. It is in the purpose of replacing humans to work in such risky environments as petrochemical enterprises, construction industry, the fire department, ship-building industry and so on. Its research and development will bring good economic benefits and social values. In this paper, the purpose of the study is to design a highly reliable and widely applicable climbing-robot that can automatically move and avoid obstacles.A new type of wall-climbing cleaning robot is designed to meet the cleaning requirements of the steel walls by a power plant of Datong. The wall-climbing robot system consists mechanical structure and control system that can complete the function. According to the special environment that the wall of the power plant is steel, adjustable pole type permanent magnet and wheeled mobile are chose, and then the climbing robot mechanical structure of robot is designed based on the idea of modular design. The3D model is modeling in PRO/E, and the engineering drawing is drew in auto CAD. Finally, the climbing robot ontology is made。In robot control system, I made the hardware design and software design based on the modular design ideas. based on ATmega16two stage computer processing system of up and down has been adapted. The up-grade computer completes human-computer interaction and sends instructions to the low-grade computer. The low-grade computer completes path planning and send information to the up-grade computer. The signal transmission of up-grade computers is based on RS232. Based on the above design, the robot prototype is produced, and the experiment is made. The results show that the climbing robot with adjustable pole permanent magnet adsorption can securely and stable adsorbed on the steel wall and finish the cleaning work.