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

摘要： 密封结构是保证爬壁机器人运行的核心部件，滚动密封作为一种新型密封方式，具有耐磨性好、负载大、壁面适应性强的特点，在爬壁机器人领域研究日益广泛。基于滚动密封机理，提出了典型工况下的滚动密封失效判据。通过密封机理分析确定了滚动密封结构的失效形式，对水平平动、竖直平动及转向三种典型工况下的具体失效形式进行分析，并采用动力学方法得到了关键设计参数与密封泄漏间的关系，由此提出滚动密封的失效判据。最后基于所提失效判据完成样机改进与实验，实验结果表明，改进设计提高了吸附稳定性，验证了密封失效判据的有效性与准确性。

关键词: 滚动密封, 失效分析, 密封失效判据, 爬壁机器人