关键词: 滚动密封, 失效分析, 密封失效判据, 爬壁机器人

Abstract: The sealing structure was the core component that kepts the wall-climbing robot running. As a new type of sealing structure with the characteristics of good wear resistance, large load, and strong wall adaptability, was increasingly studied in the field of wall-climbing robots. The failure criterion of the rolling seals under typical working conditions was proposed based on the research of the rolling seal mechanism. The failure mode of the rolling seal structure was obtained by analyzing the sealing mechanism. The specific failure modes under the three typical working conditions of horizontal translation, vertical translation, and steering were analyzed. Then the relationship between key design parameters and seal leakage was established based on the dynamics method and based on these analyses, the failure criterion of the rolling seal was proposed. Eventually, the prototype improvement and experiments were completed based on the proposed failure criterion. The experimental results show that the enhances design improves the adsorption stability, which verifies the validity and accuracy of the rolling seal failure criterion. 

Key words: rolling seal, failure analysis, seal failure criterion, wall-climbing robot