CFD Analysis And Optimization Research On The Adsorption Device Of Tracked Wall Climbing Robot

In recent years,with the rapid development of China's science,technology and economic strength,China 's infrastructure construction has also ushered in a new peak of development.High-rise buildings,nuclear power generation,land and water transportation,petrochemical and other fields have an increasing demand for vertical wall operations and high-altitude operations.As an automated robot that can crawl on inclined or vertical walls and complete autonomous operations,wall-climbing robots are equipped with different sensors and different working devices to achieve highaltitude and high-risk functions such as wall cleaning,crack monitoring,nuclear radiation detection,and disaster search and rescue.Among them,the negative-pressure adsorption wall-climbing robot can work on any wall because it is not restricted by the working wall,and it has a wide range of development prospects.In this paper,combined with the National Natural Science Foundation project "Electromechanical coupling dynamics and adaptive control of multi-track walking device"(No.51775225),facing the needs of economic and social development,the theoretical and experimental research on the adsorption device of the key component of the crawler wall-climbing robot is carried out.First,the application scope,advantages and disadvantages of various adsorption wall-climbing robots are analyzed,and the domestic and foreign research status of negative pressure adsorption-type wall-climbing robots and related technologies are reviewed.The composition of the suction device of the negative pressure suction wallclimbing robot is introduced,the fluid movement and the force in the suction device are analyzed,the calculation formula of the negative pressure value of the suction device is deduced,and the static state and the motion state of the tracked wall-climbing robot are calculated.Under the minimum adsorption pressure required,the main design principles and design methods of the impeller are given.Designed and manufactured a tracked wall-climbing robot prototype.Through the performance test of the prototype,the effect of wall surface type,robot pose,negative pressure cavity shape and sealing edge type on the adsorption performance was explored through the performance test of the prototype.In the state,the influence of the posture on the adsorption performance of the wall-climbing robot,a set of negative pressure feedback control algorithm is built,and the feedback control of the negative pressure value of the wall-climbing robot is realized.The main process of CFD simulation of the adsorption device is introduced,and the CFD simulation results of the adsorption device are compared with the experimental results,which proves the correctness of the simulation results.Based on the CFD simulation,the influence of the impeller parameters on the negative pressure value of the adsorption device is explored.The nonlinear function relationship between the impeller parameters and the negative pressure value was established through the Kriging model,and the impeller parameters were optimized using genetic algorithm.The negative pressure value of the optimized adsorption device has been significantly increased,and the correctness of the optimized results has been proved through experiments.In this paper,the theoretical and experimental research results of the fluid dynamics simulation and blade parameter optimization of the crawler wall-climbing robot negative pressure adsorption device provide a reference for the design of this type of robot negative pressure adsorption device.