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Wall climbing robot

Mentor:
Dr. Deepak Kumar

By:
Rahul Tiwari
Abhijatya
Rajat Raj Yadav

The wall climbing robot is entirely based on


pneumatics.
This Robot uses a Vacuum Generator that
creates vacuum in the Suction Pad which
helps the robot adhere to the wall
Air Cylinder controlled by a 5/2 Solenoidal
control valve gives linear actuation to the
robot
It is controlled by using plc programming

Double acting pneumatic cylinder


5/2 way solenoid valve
Air compressor
Vacuum pads
Compressed air piping system

Type Piston cylinder


Standard ISO 6432; CETOP recommendation RP
52 P
Working pressure p. max 10 bar (145 psi)
Ambient temperature range -20 C to +75 C (-4
F to +167 F)
Medium Compressed air, lubricated or nonlubricated
Material Piston rod 303 S 31, roller burnished
Profile AIMgSi 0,5 aluminum
Covers PA (Polyamide)
Sealings PUR (Polyurethane)

Piston mm

12

Piston force, theoretical at 6 bar (87 psi)


Push outstroked [N] (lbf)

76 (17.1)

Weight

0 mm stroke [kg] (lbs)


+10 mm stroke[kg] (lbs)

0,06 (0.132)
0,007 (0.015)

The pressure in the cylinder is controlled by


the air compressor which in turn passes the
air into the cylinder through 5/2 solenoid
valve at regular intervals
The cylinder moves the robot back and fourth
the vaccuum pads are attached to the
cylinder

Action: Double
Bore:25mm
Cushioning Type:Buffer
Manufacturer Series:ISO 6432
Maximum Operating Pressure:10 bar
Maximum Operating: Temperature+80C
Minimum Operating :Temperature-20C

MEDIUM : AIR (FILTERED & LUBRICATED)


MATERIAL:ALLUMINIUM
DESIGN:POPPET TYPE
PORT SIZE:1/4"BSP ,1/2"BSP FEMALE
TYPE:5 PORTS 2 POSITIONS
SEALS:NITRILE RUBBER
LEAKAGE:BUBBLE TIGHT
ELECTRICAL ENTRY:LEAD WIRE,DIN
STANDARD VOLTAGE:AC/DC
FLOW (NLPM) AT 5 BAR:250 NORMAL LITRES PER MIN
PRESSURE:2.5 TO 10 BAR
TEMPERATURE RANGE:+ 5C TO 50C
INDICATOR LIGHT:NEON LIGHT,LED

We use the valve to control the back and


fourth motion of the cylinder
Its is connected to the cylinder
Another valve is connected to the vaccuum
pads

Stem type : Stem with buffer spring to allow


objects of differing height to be picked up

Pad materials: Silicon Rubber

Pad style : Flat

Pad Diameter: 90 mm

Vaccuum pads are used to stick the robot to


the wall
Their vaccuum is also controlled by using the
valve so that the robot can move forward

It is used to pass the compressed air as the


robot is completely based on pneumatics

Type: Single cylinder piston; Power: 1/5


Horsepower; Voltage: 220-240V/50HZ
Air Control: Pressure regulator with gauge &
filter
Air Delivery: 20-23 ltrs/minute; 0.8 cfm @ 58
psi
Working Pressure: 15-45 psi; Auto Stop: at 58
PSI; Auto Start: at 42 PSI
Electric Cord: 6 ft; Certificate: CE;
Connections: 1/8'' bsp

Key features

Light-Weight
190 psi working pressure
0 Deg F to 140 Deg F
Corrosion Resistant
Compatible with all types of compressor
lubricants
Easily Identified

Piping system is specifically constructed and


extensively tested for safe operation in
compressed air applications
This system is colour coded blue for easy
identification.

Double acting cylinder


5/2 solenoid valve
4 Pneumatic suction cups
at Rs. 250/unit

: Rs. 2100
: Rs. 760

Air compressor
Piping system
TOTAL

: Rs. 6000
: Rs. 800
: Rs. 10,660/-

: Rs. 1000

The vaccuum pads as shown in


the figure stick to the wall and
the pneumatic cylinder is
attached to it which move the
robot back and fourth
Air compressor is used to pass
the compressed air to the
cylinder and to the suction
pads which control the robot
All the air to be provided is
controlled by plc
programming

Wall Climber Robot that can be used as a


Skyscraper Cleaning Robot or a Window
Cleaning Robot
The prospect of climbing robots is coveted
because they can take the place of humans to
carry out hazardous and maintenance job

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