Centrifugal fan-based adhesion system for wall climbing robots
Gao, Yan (2026)
Kandidaatintyö
2026
School of Energy Systems, Konetekniikka
Kaikki oikeudet pidätetään.
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe2026042936401
https://urn.fi/URN:NBN:fi-fe2026042936401
Tiivistelmä
Wall-climbing cleaning robots are increasingly being used on smooth vertical surfaces such as glass, tiles, and metal plates. Vacuum negative pressure adsorption technology is suitable for non-magnetic smooth walls. Its performance depends on cavity design, sealing conditions, and structural reliability. This thesis focuses on the design and analysis of a negative pressure adsorption module for a wall-climbing cleaning robot.
This study employs 3D modelling, material selection, theoretical calculations, and static simulation. The module mainly consists of a centrifugal impeller, an annular negative pressure chamber, and a flexible sealing structure. The main load-bearing components are made of 6061 aluminium alloy, and the sealing boundary is made of rubber. The effective adsorption area, adsorption force, self-weight resistance, and anti-slip performance were evaluated through theoretical calculations. Static simulation of the annular negative pressure chamber was performed to verify its mechanical properties.
The results show that the proposed module structure has a reasonable layout and can provide sufficient theoretical adsorption force under the selected pressure difference conditions. Simulation results also show that the annular chamber has good strength and stiffness under the applied load. Overall, the designed negative pressure adsorption module demonstrates good theoretical feasibility and structural reliability at the current design stage. This study lays the foundation for further optimization and experimental verification of wall-climbing cleaning robots.
This study employs 3D modelling, material selection, theoretical calculations, and static simulation. The module mainly consists of a centrifugal impeller, an annular negative pressure chamber, and a flexible sealing structure. The main load-bearing components are made of 6061 aluminium alloy, and the sealing boundary is made of rubber. The effective adsorption area, adsorption force, self-weight resistance, and anti-slip performance were evaluated through theoretical calculations. Static simulation of the annular negative pressure chamber was performed to verify its mechanical properties.
The results show that the proposed module structure has a reasonable layout and can provide sufficient theoretical adsorption force under the selected pressure difference conditions. Simulation results also show that the annular chamber has good strength and stiffness under the applied load. Overall, the designed negative pressure adsorption module demonstrates good theoretical feasibility and structural reliability at the current design stage. This study lays the foundation for further optimization and experimental verification of wall-climbing cleaning robots.