Guide rail cleaning robot system

Based on the analysis of the operating environment characteristics and functional requirements of large enclosed equipment due to its large volume, deep height, heavy daily maintenance work, and reliance on personnel climbing and cleaning, a guide rail cleaning wall climbing robot driven by four-wheel drive magnetic wheels is proposed by integrating the concept of active and passive configuration. It has the functions of vertical climbing, fall prevention, oil cleaning, new oil application, and gap crossing. This article conducts mechanical performance analysis and simulation analysis of robots in their operational conditions, and establishes mathematical models and performs computational analysis for the safe adsorption of robots. In light of the control requirements for the robot, the control system for the robot was designed and debugged. The prototype platform test shows that the equipment can effectively reduce the work intensity of personnel, greatly improve the safety of cleaning, and has strong adaptability, feasibility, and scalability.