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The purpose of this paper is to present a wall-climbing robot platform for heavy-load with negative pressure adsorption, which could be equipped with a six-degree of freedom (DOF) collaborative robot (Cobot) and detection device for inspecting the overwater part of concrete bridge towers/piers for large bridges.

By analyzing the shortcomings of existing wall-climbing robots in detecting concrete structures, a wall-climbing mobile manipulator (WCMM), which could be compatible with various detection devices, is proposed for detecting the concrete towers/piers of the Hong Kong-Zhuhai-Macao Bridge. The factors affecting the load capacity are obtained by analyzing the antislip and antioverturning conditions of the wall-climbing robot platform on the wall surface. Design strategies for each part of the structure of the wall-climbing robot are provided based on the influencing factors. By deriving the equivalent adsorption force equation, analyzed the influencing factors of equivalent adsorption force and provided schemes that could enhance the load capacity of the wall-climbing robot.

The adsorption test verifies the maximum negative pressure that the fan module could provide to the adsorption chamber. The load capacity test verifies it is feasible to achieve the expected bearing requirements of the wall-climbing robot. The motion tests prove that the developed climbing robot vehicle could move freely on the surface of the concrete structure after being equipped with a six-DOF Cobot.

The development of the heavy-load wall-climbing robot enables the Cobot to be installed and equipped on the wall-climbing robot, forming the WCMM, making them compatible with carrying various devices and expanding the application of the wall-climbing robot.

A heavy-load wall-climbing robot using negative pressure adsorption has been developed. The wall-climbing robot platform could carry a six-DOF Cobot, making it compatible with various detection devices for the inspection of concrete structures of large bridges. The WCMM could be expanded to detect the concretes with similar structures. The research and development process of the heavy-load wall-climbing robot could inspire the design of other negative-pressure wall-climbing robots.

The rock drill’s drill tail experiences high-frequency fretting simultaneously in the rotational and axial directions. Due to the complex working characteristics and the low viscosity of the water medium, the pure water seal is susceptible to damage and failure. The purpose of this paper is to enhance the water seal’s performance.

The Y-shaped seal ring is modeled and simulated using orthogonal testing. Through analysis of the impact of various seal section parameters on sealing performance, the maximum contact stress and maximum Von Mises stress are selected as indicators of sealing effectiveness.

The maximum contact stress is proportional to lip thickness and chamfer length but inversely proportional to lip length. Meanwhile, the maximum Von Mises stress is directly influenced by lip depth and the included angle of the lip and drill tail but is inversely proportional to the lip thickness. The enhanced Y-shaped water seal sees reductions of 15% and 45% in maximum contact stress and maximum Von Mises stress, respectively.

This paper used analytical method and model that is helpful for design of the water seal’s structure in complex working characteristics and the low viscosity of the water medium.

The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-11-2023-0366/

The color painting of ancient buildings has high historical and artistic value but is prone to aging due to long-term outdoor exposure. The purpose of this study is to develop a new type of sealing coating to mitigate the impact of ultraviolet (UV) light on color painting.

The new coating was subjected to a 500-h UV-aging test. Compared with the existing acrylic resin Primal AC33, the UV aging behavior of the new coating, such as color difference and gloss, was studied with aging time. The Fourier infrared spectra of the coatings were analyzed after the UV-aging test.

Compared with AC33, the antiaging performance of SF8 was substantially improved. SF8 has a lower color difference value and better light retention and hydrophobicity. The Fourier transform infrared spectroscopy results showed that the C-F bond and Si-O bonds in the resin of the optimized sealing coating protected the main chain C-C structure from degradation during the aging process; thus, the resin maintained good stability. The hindered amine light stabilizer TN292 added to the coating inhibited the antiaging process by trapping active free radicals.

To address the problem of UV aging of oil-decorated colored paintings, a new type of sealing coating with excellent antiaging properties was developed, laying the foundation for its demonstration application on the surface of ancient buildings.

This paper aims to focus on the high-speed rotary lip seal in aircraft engines, combining its service parameters, its own structure and application conditions, to study the influence of different eccentric forms, eccentricity, rotational speed and other factors on the performance of the rotary lip seal.

A numerical simulation model for high-speed eccentric rotary lip seals has been developed based on the theory of elastic hydrodynamic lubrication. This model comprehensively considers the coupling of multiple physical fields, including interface hydrodynamics, macroscopic solid mechanics and surface microscopic contact mechanics, under the operating conditions of rotary lip seals. The model takes into account eccentricity and uses the hazardous cross-sectional method to quantitatively predict sealing performance parameters, such as leakage rate and friction force.

Eccentricity has a large impact on lip seal performance; lips are more susceptible to wear failure under static eccentricity and to leakage failure under dynamic eccentricity.

This study provides a new idea for the design of rotary lip seal considering eccentricity, which is of guiding significance for the engineering application of rotary lip seal.

This paper aims to investigate the effect of frictional heat on the wear of high-speed rotary lip seals in engines.

In this research paper, the authors focus on the high-speed rotating lip seal of aircraft engines. Using the hybrid lubrication theory, a thermal-fluid-solid coupled numerical simulation model is established to investigate the influence of parameters such as contact pressure distribution, temperature rise and leakage rate on the sealing performance under different operating conditions. By incorporating the Rhee wear theory and combining simulation results with experimental data, a method for predicting the wear of the rotating seal lip profile is proposed. Experimental validation is conducted using a high-speed rotating test rig.

The results indicate that as the speed increases, the rise in frictional heat leads to a decrease in the sealing performance of the lip seal contact region. The experimental results show a similar trend to the numerical simulation results, and considering the effect of frictional heat, the predicted wear of the lip seal profile aligns more closely with the actual wear curve. This highlights the importance of considering the influence of frictional heat in the analysis of rotating seal mechanisms.

This study provides a reference for the prediction of wear profiles of engine high-speed rotary lip seals.

The purpose of this paper is to introduce a variable distance pneumatic gripper with embedded flexible sensors, which can effectively grasp fragile and flexible objects.

Based on the motion principle of the three-jaw chuck and the pneumatic “fast pneumatic network” (FPN), a variable distance pneumatic holder embedded with a flexible sensor is designed. A structural design plan and preparation process of a soft driver is proposed, using carbon nanotubes as filler in a polyurethane (PU) sponge. A flexible bending sensor based on carbon nanotube materials was produced. A static model of the soft driver cavity was established, and a bending simulation was performed. Based on the designed variable distance soft pneumatic gripper, a real-time monitoring and control system was developed. Combined with the developed pneumatic control system, gripping experiments on objects of different shapes and easily deformable and fragile objects were conducted.

In this paper, a variable-distance pneumatic gripper embedded with a flexible sensor was designed, and a control system for real-time monitoring and multi-terminal input was developed. Combined with the developed pneumatic control system, a measure was carried out to measure the relationship between the bending angle, output force and air pressure of the soft driver. Flexible bending sensor performance test. The gripper diameter and gripping weight were tested, and the maximum gripping diameter was determined to be 182 mm, the maximum gripping weight was approximately 900 g and the average measurement error of the bending sensor was 5.91%. Objects of different shapes and easily deformable and fragile objects were tested.

Based on the motion principle of the three-jaw chuck and the pneumatic FPN, a variable distance pneumatic gripper with embedded flexible sensors is proposed by using the method of layered and step-by-step preparation. The authors studied the gripper structure design, simulation analysis, prototype preparation, control system construction and experimental testing. The results show that the designed flexible pneumatic gripper with variable distance can grasp common objects.

This study aims to research the influence mechanism of microtextured geometric parameters of dry gas seal end face on the tribological behavior under dry frictional conditions.

The microtexture was processed using laser processing, while the diamond-like carbon (DLC) film was applied through magnetron sputtering; the experimental platform of friction vibration was established, the frictional and vibrational properties of different geometric parameters were tested; the data signals of vibrational acceleration and frictional torque were collected and processed using data acquisition instrument. The entropy characteristic parameters of 3D vibrational acceleration were extracted based on wavelet packet decomposition method. The end-face topography was measured with ST400 three-dimensional noncontact surface topography instrument.

The geometry of pits plays a key role in influencing friction performance; the permutation entropy and fuzzy entropy of the vibration acceleration signal changed with variations in microtextured parameters. A textured surface with appropriately size parameters can trap debris, enhance the dynamic pressure effect, reduce impact between the friction interfaces and improve the frictional vibrational performance. In this research, microtextured surface with Φ150 µm-10% and Φ200 µm-5% can effectively reduce friction and vibration between the end faces of a dry gas seal.

DLC film improves the hardness of seal ring end face, and microtexture improves the dynamic effect; the tribological behavior monitoring can be realized by analyzing the characteristics of vibration acceleration sensitive parameter with friction state. The findings will provide a basis for further research in the field of tribology and the microtexture optimization of dry gas seal ring end face.

The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-12-2023-0389/

With the popularity of high-rise buildings, wall inspection and cleaning are becoming more difficult and associated with danger. The best solution is to replace manual work with wall-climbing robots. Therefore, this paper proposes a design method for a rolling-adsorption wall-climbing robot (RWCR) based on vacuum negative pressure adsorption of the crawler. It can improve the operation efficiency while solving the safety problems.

The pulleys and tracks are used to form a dynamic sealing chamber to improve the dynamic adsorption effect and motion flexibility of the RWCR. The mapping relationship between the critical minimum adsorption force required for RWCR downward slip, longitudinal tipping and lateral overturning conditions for tipping and the wall inclination angle is calculated using the ultimate force method. The pressure and gas flow rate distribution of the negative pressure chamber under different slit heights of the negative pressure mechanism is analysed by the fluid dynamics software to derive the minimum negative pressure value that the fan needs to provide.

Simulation and test results show that the load capacity of the RWCR can reach up to 6.2 kg on the smooth glass wall, and the maximum load in the case of lateral movement is 4.2 kg, which verifies the rationality and effectiveness of the design.

This paper presents a new design method of a RWCR for different rough wall surfaces and analyses the ultimate force state and hydrodynamic characteristics.

The purpose of this study is to design a closed hydrostatic guideway has the ability to resist large-side load, pitch moments and yaw moments, has good stiffness and damping characteristics, and provides certain beneficial guidance for the design of large-span closed hydrostatic guideway on the basis of providing a large vertical load bearing capacity.

The Reynolds’ equation and flow continuity equation are solved simultaneously by the finite difference method, and the perturbation method and the finite disturbance method is used for calculating the dynamic characteristics. The static and dynamic characteristics, including recess pressure, flow of lubricating oil, carrying capacity, pitch moment, yaw moment, dynamic stiffness and damping, are comprehensively analyzed.

The designed closed hydrostatic guideway has the ability to resist large lateral load, pitch moment and yaw moment and has good stiffness and damping characteristics, on the basis of being able to provide large vertical carrying capacity, which can meet the application requirements of heavy two-plate injection molding machine (TPIMM).

This paper researches static and dynamic characteristics of a large-span six-slider closed hydrostatic guideway used in heavy TPIMM, emphatically considering pitch moment and yaw moment. Some useful guidance is given for the design of large-span closed hydrostatic guideway.