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Thedevelopmenttrendoftherobot1.Preface:Climbingrobotisanimportantbranchinthefieldofmobilerobot,flexiblemobileonverticalwall,replaceartificialundertheconditionofthelimittocompletevarioustasks,isoneofthehotspotinresearchoftherobot.Itismainlyusedinthenuclearindustry,petrochemicalindustry,shipbuilding,firedepartmentsandinvestigationactivities,suchasthebuildingexternalwallcleaning,materialstoragetankinpetrochemicalenterprisetestingandmaintenance,theouterwalloflargesteelplatespraypaint,andinbuildingaccidentrescueandrelief,etc.,andachievedgoodsocialbenefitsandeconomicbenefits,haswidedevelopmentprospects.After30yearsofdevelopment,thefieldofrobotwhichhasemergedalargenumberoffruitfulresults,especiallysincethe1990s,especiallyrapiddevelopmentinthefieldofclimbingrobotathomeandabroad.Inrecentyears,duetothedevelopmentofavarietyofnewtechnology,therobotwhichsolvedmanytechnicalchallenges,greatlypromotethedevelopmentoftheclimbingrobot.Therobotdesignactivitiesofuniversitiesinourcountryalsohasawidedevelopment,thiskindofatmosphereforourrobotresearchanddevelopmentofspecialandprofessionaltalents'cultivationisofpositivesignificance.2.Climbingrobotresearchstatusabroad1966Japaneseprofessorwestlightwallmobilerobotprototypeisdevelopedforthefirsttime,andperformancesuccessinOsakaprefectureuniversity.Thisisakindofrelyonnegativepressureadsorptionclimbingrobot.Thenappearedvarioustypesofclimbingrobot,hasalreadybeguntothelate80sapplicationintheproduction.Japan'smostrapiddevelopmentinthedevelopmentofclimbingrobot,mainlyusedintheconstructionindustryandnuclearindustry.Suchas:Japanshimizuconstructioncompanyhasdevelopedwiththeouterwallofthebuildingindustrycoatingwithceramictileoftherobot,theydevelopedbynegativepressureadsorptioncleaningclimbingrobot,onthesurfaceoftheglassfortheCanadianembassytoclean.Tokyouniversityoftechnologydevelopmentofthewirelessremotecontrolmagneticadsorptionclimbingrobot.InJapan'smitilimithomeworkrobotnationalresearchprojects,supportedbydayCDH,developedalargepotofnegativepressureadsorptionsurfaceinspectionrobotsusedinnuclearpowerplants,etc.Othercountriesarealsoaddedtotheclimbingrobotresearchupsurge,suchas:SeattleHenryRSeemannunderthefundingoftheBoeingcompanydevelopedavacuumadsorptioncrawlerAutoCrawlerrobot.Onthetwotrackseachcontaininganumberofsmalladsorptionchamber,withthemovingofthecrawler,adsorptionchamberformcontinuousvacuumcavityandmakesthecrawlerwalkingagainstthewall.AmericanCaseWesternReserveUniversitydevelopedbyusingfourclimbingrobotprototypelegs.Similartothefirsttworobots,therobotdependsonfourlegsonbiomimeticviscousmaterialstoadsorption,theprototypeisthefourlegswheelonthesoleofthefootevenspecialdistributionismoreadvantageoustotherobotstablecrawlingonthewall.Thequalityoftherobotisonly87g.Polytechnicschoolintheearly1990s,BritishPortsmouthhasdevelopedaclimbingrobotmultileggedwalkingtype.Adoptingmodulardesign,therobotiscomposedoftwosimilarmodules,eachmoduleincludestwomechanicallegsandlegcontroller.Accordingtothetaskneedtoinstalladifferentnumberoflegs,reconfigurableability.Mechanicallegsusingbionicsmechanism,simulationofthelargeanimalsarmmusclefunction,istwotype,includingupperandlowertwoandthreedouble-actingcylinder,withthreedegreesoffreedom.Goodstabilityandbearingcapacityisbig,therobot'slightweight,andcanspanbiggerobstacles.Inadditiontothelegononeendofvacuumcups,robotequippedwithsuctioncups,abdomenmassratioofpowderandmaketherobothasalargerloadof2:1.3.ClimbingrobotresearchstatusinChinaChinaisalsoinasimilarstudysincethe1990s.In1988atthenational863hightechnologyprogram,underthesupportoftheroboticsinstituteofHarbininstituteoftechnologyhassuccessfullydevelopedtheuseofmagneticadsorptionandvacuumadsorptiontwoseriesoffivetypesofwallclimbingrobot.Successfuldevelopmentoftheourcountrythefirstwallclimbingrobotremotedetection,usingnegativepressureadsorption,omni-directionalmobilewheel,usedfornuclearwastestoragejarsofwallwelddefectdetection.Developedin1994fortallbuildingswallclimbingrobotcleaningCLR-Ⅰ,adoptstheomni-directionalmobilemechanism,therobotinsitucanarbitrarilychangethedirectionofmovement.AfterthedevelopmentoftheCLR-Ⅱ,drivenbytwoindependentways--coaxialtwo-wheeleddifferentialmechanism,throughthecoordinationoftworoundsofspeedcontroltorealizetheomni-directionalmobilerobot,therobotontologyandusingpowerlinecarriercommunicationmethodsbetweenthegroundcontrolstation.Above-mentionedthreeclimbingmachineadoptssinglesuctioncupstructure,springairsealed,ensurethecrawlrobotwithhighspeedandreliableadhesionability.In1995successfullydevelopedthemetalcorrosionbymagneticadsorptionclimbingrobot,structureofpermanentmagneticadsorption,accomplishedbytwotrackspositive&negativemobileturn.Therobotcandoforpetrochemicalenterprisestotheouterwallofthemetalmaterialstoragetanktospraypaint,sandblasting,aswellaswithautomaticdetectionsystemtotestthetankwallthickness.Developedin1997'sdetectionofwaterwallclimbingrobot,acircularpermanentmagnetadsorptionblockinconformitywiththetankwallarc,improvetheadsorptioncapacity,andimprovetheefficiencyoftheoperation.Shanghaiu