The Mode Of Failure Analysis And Optimized Design Of Magnetic Adsorption Unit For Wall-climbing Robots

With the development of science and technology,winter heating and thermal power generation has become a very important industry in the north of China,and the popularization of the row pipe boiler makes the water wall deposition technology widespread application.Deposition technology in the formation of water-cooled wall surface wear layer can greatly reduce the abrasion of the boilers,followed by boiler maintenance problems which make the use of water-cooled boiler costs remain high.A large number of manual maintenance and too long time to stop maintenance to the row pipe water-cooled boiler maintenance bring great difficulty,therefore,it is extremely important to do research on the boiler inner wall detection robot.The wall-climbing robot researched in this paper can be stably crawled in the vertical water-cooled wall,and by using this platform which can automatically detect the water pipe wall state.The task of wall monitoring can be completed by the simple and effective way.Firstly,in this paper,the development status of the wall-climbing robot at home and abroad is analyzed on the basis of a lot of literatures,and the system plan of the wall-climbing robot is selected according to the technical requirements and parameters.The design of the structure of the wall climbing robot,including the frame,the track,the magnetic adsorption unit installation seat,the spacing adjustment mechanism and the drive design.The frame structure is designed to prevent the wall-climbing robot from warping;the track structure may provide design parameters for the magnetic adsorption unit design;the magnetic adsorption unit base design can ensures that the robot can meet the strength requirements;the spacing adjustment mechanism is designed to allow the wall climbing robot to adapt to the multiple diameter waterwalls.Secondly,considering the vertical drop phenomenon of wall-climbing robot,this paper puts forward five kinds of failure states,and according to the requirement of the magnetic force between the falling failure state and the turning failure state under different force states,combined with MATLAB simulation analysis of the stable operation of the minimum required magnetic adsorption unit magnetic force and determine the appropriate antilogarithm force.Then,two kinds of failure states which are more prevalent in the wall-climbing robot are presented.The influence of two states on the magnetic adsorption force of the wall-climbing robot is analyzed and the solutions are proposed.The fifth failure state is to get the driving form of the wall-climbing robot and the extreme value of the demand driving force,so as to provide the selection index of the driving motor.Thirdly,because the design of magnetic attraction force is the core of the study on the wall crawling mechanism,in a certain size of the conditions to obtain greater magnetic adsorption force is one of the focus in this paper.The magnetic circuit and the magnetic circuit of the magnetic adsorption unit are optimized for the adsorption force and overturning force of the magnetic adsorption unit obtained in the above-mentioned mechanical analysis.The impact of the magnetic field parameters on the magnetic circuit analysis is analyzed and the boundary conditions defined by the magnetic adsorption force and the software analysis are obtained according to the two-dimensional static magnetic field analysis model.This paper proposed a new type of magnetic circuit,which compares with two conventional magnetic circuits by ANSYS magnetic field analysis.The optimal magnetic circuit and the optimum size of the magnetic adsorptionunit are determined by magnetic circuit optimization design.Depending on the above analysis,the special condition of the third chapter is analyzed and optimized.The result shows that,under the special condition,the antilogarithm device can satisfy the special requirements of the wall-climbing robot.Finally,the experimental software platform of the wall-climbing robot is designed according to the performance verification experiment of wall-climbing robot,including motor drive control,thickness measurement data transmission and video image transmission.Then,three sets of confirmatory experiments are performed,including magnetic adsorption unit and magnetic wheel verification experiment,the experimental data and simulation data are comparable to verify that the former design meets the design requirements.And this paper builds the corresponding principle prototype,and uses the principle prototype to complete the whole machine stability experiment and the whole machine running experiment.On the basis of theoretical research,this paper shows that the research in this paper provides valuable theoretical and experimental reference for the follow-up wall-climbing robot's performance improvement.