The cleaning of foreign objects in the Steam Generator(SG)inside the nuclear island is currently a difficult problem in the nuclear power industry.With the development of science and technology,wall-climbing robot technology has received widespread attention and made significant progress,and is widely used in fields such as pipeline and ship rust removal and dredging.This paper combines the environmental conditions of the nuclear island SG and designs a magnetic adsorption tracked wall-climbing robot for the secondary side foreign object grasping and cleaning of SG,which integrates inspection,loosening,and grasping.Firstly,the performance and structural requirements of the foreign object grasping wall-climbing robot in this environment are analyzed.Based on the equipment interface and foreign object status,the main body of the foreign object grasping magnetic adsorption wall-climbing robot is preliminarily designed.Then,the failure conditions of the designed robot are analyzed,and the minimum adsorption force required by the robot is determined by calculating the force state of the robot.The driving motor for the driving track is also calculated and selected,to meet the requirements of stable operation of the foreign object grasping robot,providing equipment support for the intelligent foreign object grasping of the steam generator inside the nuclear island.
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