为提高爬壁机器人在大管径管道中的实用性和适应性，提高其在管道中运动的稳定性，开展了大管径管道表面吸附方式和机器人结构对管道适应性研究，设计了一款基于推力吸附的变曲率管内外便携式大管径爬壁机器人，该机器人主要由可调节涵道推力吸附装置和变曲率悬挂减振机构组成，理论上适用内壁曲率半径大于210 mm、外壁曲率半径大于326 mm的内外管道。针对机器人开展了整体结构设计，开展了倾覆性分析和动力学仿真分析，并进行了样机实验研究。研究结果表明，此设计可以在曲率半径为500 mm的内壁面上爬行，初步验证了该设计的可行性，为大管径爬壁机器人设计提供基础参考。

In order to enhance the practicality and adaptability of wall climbing robots in large diameters pipe and improve their stability during movement within the pipe, a study on the surface adsorption method of large diameters pipe and the adaptability of robot structures to the pipe was conducted, and a portable wall climbing robot for both inside and outside large diameters pipe based on thrust adsorption with variable curvature was designed. The robot, whose main components are an adjustable duct thrust adsorption device and a variable curvature suspension damping mechanism, is theoretically applicable to internal and external pipe with curvature radii greater than 210 mm and 326 mm, respectively. An overall structural design of the robot was carried out, and an overturning analysis and dynamic simulation analysis were conducted, followed by prototype experimental research. The results show that the designed robot could crawl on an inner wall with a curvature radius of 500 mm. It is concluded that the feasibility of this design has been preliminarily verified, and it has provided a basic reference for the design of large diameters wall climbing robots.