Study On Climbing Robot And Relate Technology For Tunnel Surface-detection

In recent years,the railway industry in our country has been developing rapidly.During the process of railway construction,the railway department mainly detects the lining status of tunnels by manually carrying high-precision radar detection devices.In this way,the efficiency is very low,the workers are labor-intensive,and personal safety is poor.Therefore,this paper designs a new type of automatic equipment equipped with tunnel lining inspection.In this paper,a frame-mounted vacuum adsorption wall-climbing robot with radar detector is designed,which can detect the lining of bridges,tunnels and other walls.Firstly,the overall design scheme of wall-climbing robot is ascertained through investigation and research,including adsorption method,walking method,overall structure and driving method.The mechanical structure design of climbing robot is completed,and the theory of mechanics is used for analvsising the critical conditions of suction failure.Then,the hardware circuit design and software system design of the climbing robot are completed,and a complete wall-climbing robot system is constructed.The hardware circuit of the control system is designed,including the selection of the main controller,the motor And the actuator and pressure sensor,as well as the design of the wireless communication circuit and the solenoid valve control circuit.The robot’s gait planning and position initialization are determined.By comparing the two kinds of suction cups switching mode,the delay switch As the suction cup switching mode;Finally,the load capacity test and the walking test on different walls are carried out to verify the mechanism stability and control effectiveness of the climbing wall robot.The results show that the robot can meet the design requirements.