Design of cleaning robot for inner wallof converter station valve hall
                                        JIAO Yi kang1, LIU Zhi yuan2, PAN Ye1, ZOU Hong sen2, ZHAO Xin yang2
(1.Key Laboratory of E&M, Ministry of Education & Zhejiang Province, Zhejiang University of Technology,Hangzhou 310014, China; 2.State Grid Ningxia Maintenance Company, Yinchuan 750000, China)

Abstract: In order to solve the problem of converter station valve hall manual cleaning of low efficiency, high cost and danger, the wall climbing robot technology was applied to the inner wall of converter station valve hall,the walking mechanism, adsorption scheme, driving method and cleaning mechanism of the climbing robot were studied,the wall cleaning robot dedicated to the inner wall of the converter station valve hall was designed and developed.A detailed model of the robot was built based on Solidworks software, the theoretical calculation of driving torque was carried out, the robot prototype climbing speed and many other performance were tested by simulating the valve hall operating conditions of the converter station. The experimental results show that the climbing speed of robot during operation is reduced by 2%~5% compared with theoretical value,the results of robot performance test proves that it can accomplish many works such as climbing, walking straight, cleaning and obstacle crossing,which is very practical.

Key words: the converter station valve hall; double track crawler; cleaningrobot