Optimization Of Negative Pressure Adsorption Device Of Wall-Climbing Robot Based On Kriging Model

In recent years,China has adhered to the development goal of becoming a powerful country in science,technology and economy,and has risen rapidly.China has also reached a new height in infrastructure construction.Therefore,there is an increasing demand for dangerous scene operations such as high altitude and vertical wall,such as using robots to replace human to complete tasks in dangerous areas such as high-rise wall,petrochemical industry,nuclear engineering,etc.The wall-climbing robot is an automatic special robot that can move on the wall at a certain tilt angle and vertical state,and can independently complete relevant tasks.It can carry different upper executive mechanisms to achieve high-risk operations such as crack detection,wall cleaning,disaster rescue and radiation detection.Since the 1990 s,scholars at home and abroad have designed and manufactured a variety of wall-climbing robots suitable for different fields.Among them,the wheeled wall-climbing robot that uses negative pressure for adsorption has broad application prospects because it is not limited to the type of wall.This paper first discusses the advantages and disadvantages of various negative pressure adsorption wall-climbing robots and their application scope,and summarizes the relevant technologies of wall-climbing robots based on adsorption developed around the world in recent years.The basic structure of the wall-climbing robot studied in this paper is introduced in detail,and the flow state and stress of the gas in the negative pressure chamber are discussed,and the calculation formula of the internal pressure in the negative pressure chamber is successfully obtained.Finally,through the force analysis of the whole machine under static and dynamic conditions,the relationship between the minimum adsorption force required for the robot to adhere to the wall is further deduced,and the main methods and principles for the design of centrifugal fan impeller are given.According to the relevant design criteria,a negative pressure wheeled wallclimbing robot was designed,and the prototype was manufactured and assembled.The relevant performance tests were carried out on the prototype on different types of walls,and the changes of the negative pressure value in the negative pressure cavity at the adsorption stage,the low speed stage and the high speed stage were obtained.This paper describes the basic flow of CFD simulation of centrifugal fan,the core component of negative pressure adsorption device,and compares and analyzes the CFD simulation results with the experimental data.The error between simulation and experiment is only 1.24%,which verifies the feasibility of the simulation results.Based on CFD simulation,the database needed to establish Kriging model is built by using the experimental design method,and the basic analysis of data feasibility is carried out,and the relevant influence of impeller design parameters on the negative pressure value inside the negative pressure chamber is explored.Finally,the nonlinear relationship between the impeller parameters and the negative pressure value is established by Kriging model,and the optimization of the impeller parameters is completed by genetic optimization algorithm.The negative pressure value provided by the optimized centrifugal fan for the negative pressure strength is significantly improved.The negative pressure adsorption experiment is carried out by building an experimental platform,which verifies the correctness of the optimization results.