Abstract
Regular surface-maintenances are necessary for high structures to increase service life. The traditional manual operation has shortcomings like limited maneuverability, poor operating quality, low operating efficiency, and high risk of physical harm, which makes it urgent to develop wall-climbing robot for carrying out surface-maintenances of high structures with high efficiency, low cost, and good protection of operators. In this article, we have developed a wheeled wall-climbing robot that uses a permanent magnet adhesion system to climb on large steel surfaces. Wheel traction to avoid slippage is increased by using inflated rubber tire while maintaining a desired air gap for the magnet system. Research is directed at designing a lightweight magnet system to provide an optimum adhesion force and at determining required tire pressures to maintain a specified air gap between the magnets and the surface.
Highlights
Ships, offshore platforms, petroleum storage tanks, and sea-crossing bridges are important structures to industry and economy
There is a coupling interrelationship between the magnetic adhesion system and the pneumatic tire, which must be considered in order to determine two important designed parameters of wall-climbing robots, initial air gap and inflation pressure
The above tests prove that the design of permanent magnetic wheel-type adhesion-locomotion system is feasible and can meet the requirement of wall-climbing robot with heavy payload capacity
Summary
Offshore platforms, petroleum storage tanks, and sea-crossing bridges are important structures to industry and economy. There is a coupling interrelationship between the magnetic adhesion system and the pneumatic tire, which must be considered in order to determine two important designed parameters of wall-climbing robots, initial air gap and inflation pressure. When the robot just adsorbs on the surface, the negative suction of vacuum shroud does not work because the air pressure in the vacuum shroud is zero It requires more adhesive force than operating mode for robot to avoid slip and can be used to determine the values of Fm1 and Fm2 approximately, which increases the reliability of design.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
