Design And Research Of Tracked Wall-climbing Robot

Energy-saving and ejection-decreasing is an important measure to build a harmonioussocialistic society. Energy-recycling by closed-aligned boiler pipes is a kind of method tosave energy. But in the process of manufacturing such a pipe, welding connections tosub-pipes is a time-consuming task. To enhance the efficiency of welding a boiler pipe andassist manual welding even to take up the whole job, this paper brings forward a newmagnetic adsorption wall-climbing robot for boiler tube’s geometry. This robot can walk inthe axial and circumferential of the boiler tube. To ensure flexibility and operational safetyof the wall-climbing robot, the magnetic adsorption unit is optimized. On this basis, thekinematic and dynamic performance of wall-climbing robot is researched. Finally, thesimulated analysis is based on virtual prototype technology. The main work of this paper isfollowing.Firstly, the robot mainly consists of the mobile apparatus, the magnetic unit, thepipe-adapting apparatus, the welding torch clutch and so on. According to the specialgeometry of boiler pipes, the mobile apparatus is made up of axial and circumferentialdevices. Tangential device is of chain transmission, it could not only tooth with thesprocket and moving along the axial direction, but also fit to the pipe surface and be drivenalong the tangential direction. Axial device comprises driving wheels and wheels lifter. Theflange can fit with sub-pipes. In order to ensure that axial driving wheels wouldn’tintervene the tangential motion, a lifter with universal couplings is designed for.Secondly, magnetic-adhesion makes the robot stick to the surface of pipes. The deviceconsists of distributed magnetic units, driven by gear belt pulleys to vary the force, whichreduce the energy consumption. The magnetic unit holder is made from65Mn spring steelto match pipes with different diameters. According to simulation of magnetic adsorptionunit’s magnetic field distribution using FEA software ANSYS, the parameters of magneticadsorption unit and air gap were determined. Then according to the parameters, the distribution of magnetic force of angle and magnetic adsorption unit’s magnetic pole wasanalyzed and it lays foundation for variable magnetic force of the robot.Finally, kinematic and dynamic of wall-climbing robot’s axial walking (wheelmovement) and circumferential walking was analyzed. Kinematic model and dynamicmodel of axial walking were established. The kinematic simulation of axial walking wascompleted by using the software of ADAMS and the kinematic analysis of was realized.Then, the simulated curve of velocity was consistent with the theoretical model. Then,the kinematic and dynamic of circumferential walking were analyzed. The distribution oftrack tension and driving moment was analyzed in the motion, and the dynamical modelwas established. Then, kinematic model was established on the base of driving moment.The simulation and analysis of circumferential movement was completed by using thesoftware of RECURDYN, and the analysis result of circumferential movement isconsistent with the curve of driving moment. Theoretical models and simulation resultswill provide the due theoretical basis for the research of kinematic and dynamic ofwall-climbing robot.