The Study Of Wall-climbing Robot Technology Toward Railway Tunnel Detection

With the rapid development of large infrastructure constructions such as bridges and tunnels,stricter requirements for detecting equipments are raised,and designing a detecting equipment with high level of automation has shown tremendous marketplace.In order to fit the railway tunnel detection requirements mentioned,this paper presents one sort of practical wall-climbing robot with frame body and suction discs to conduct the detecting task.This wall-climbing robot has the shape of cross,adopting frame structure as way of walking,vacuum absorption as way of absorping,the combination of pneumatic and electric machine as way of actuation.This sturcture enables the robot to successfully absorb on rough walls with strong expansibility and easily alter the detecting equipments.Fitstly,efficient literature ananysis is done and the fundamental mechanical structure,way of absorption,actuation are decided.Acccordingly the concrete orgination is designed and theoretical analysis on sbsorption is done,including the condition of non-slipping and non-overturning.Then,with the completion of hardware and software design the moving initialization and walking step planning are confirmed.After the experimental comparision of two absorbing switching strategies,the switching strategy with transition process is selected.The wireless communication protocol between the host computer and the robot is built,and has been achieved by the operation environmention.Finally,the entire wall-climbing robot system is constructed and the performance indexes are tested,the walking experiment in multi environments are done and verified the mechanical stability and the control avilability have reaches all design requirements.