| In recent years,with the continuous enhancement of China's comprehensive strength,China has the world's advanced high-speed railway,and is a country with the most complete system technology,the strongest integration capacity,the longest operating mileage and the highest speed,forming a relatively complete high-speed railway technology system.Compared with ordinary trains and buses,high-speed rail has the advantages of safety and comfort.Therefore,with more and more high-speed railway stations in China,the application of high-speed rail station canopy metal pillars also increases.The long-term use of awning metal pillars will cause corrosion,cracking and other phenomena,which will greatly shorten the service life of canopy metal pillars.Therefore,it is essential to detect and maintain the metal pillars of high-speed railway stations.Therefore,it is imperative to develop an automatic detection equipment for metal pillars of canopy of high-speed railway station.In order to solve the above problems,this paper proposes a magnetic adsorption column climbing robot which can realize 90° steering on the surface of metal pillar and adjustable working clearance.The magnetic adsorption column climbing robot can complete the forward and backward,diameter change,90° steering and adjustment of working clearance on the metal pillar.The main contents of this paper are as follows:(1)Through the communication with the railway related staff on site,and combined with the advantages and disadvantages of the current wall climbing robot,the overall design scheme of the magnetic adsorption column climbing robot which can realize 90° steering on the metal wall and adjust the working clearance is proposed.The walking mechanism,diameter changing mechanism,steering mechanism and other module design and parts selection of the robot are completed,and the three-dimensional model of magnetic adsorption column climbing robot is established with Solid Works three-dimensional modeling software.(2)Firstly,the static model of the magnetic adsorption column climbing robot is established,and the magnetic adsorption force required by the static and normal motion of the robot is calculated.Secondly,48 pieces of permanent magnets(2x4x10cm)are used and divided into six forms that vertical and horizontal arrangement: 9 +10 + 10 + 10 + 9,8 + 9 + 14 + 9 + 8,4 + 10 + 20 + 10 + 4,and the best layout is 4 +10 + 20 + 10 + 4.According to the layout,166 permanent magnets(6x2x2.5 cm)used in the pole climbing robot are arranged in the horizontal arrangement of 14 + 18 + 18+ 22 + 22 + 22 + 18 + 18 + 14 permanent magnets,and the working clearance is determined as 8mm.Finally,in order to reduce the overall weight of the pole climbing robot,two kinds of magnetic circuit optimization design schemes are proposed.The first is a double-layer top-down magnetic circuit design model based on Halbach theory array.The second is based on Halbach linear theoretical array and Halbach arc theoretical array.Finally,40 pieces of permanent magnet Halbach arc array(the volume of each piece is 6x4x2.5 cm)is determined as magnetic adsorption device,which can effectively reduce the weight and volume of magnetic adsorption column climbing robot.(3)The structure and magnetic adsorption force of the magnetic adsorption column climbing robot is verified in Adams kinematics simulation software.The virtual prototype and simulation environment of the column climbing robot are constructed in ADAMS.Firstly,the kinematics simulation experiment of 166 permanent magnets(6x2x2.5 cm)was carried out.The results show that the magnetic adsorption force can be provided enough to ensure the normal walking of the pole climbing robot under the working clearance of 8mm,and the standing of the pole climbing machine on the surface of the metal pillar can be ensured under the working clearance of 34 mm.Secondly,the kinematics simulation analysis of the magnetic adsorption device composed of 40 pieces(6x4x2.5 cm)Halbach arc array permanent magnets after magnetic circuit optimization is carried out.The results show that the normal operation of the pole climbing robot can be ensured under the working clearance of 24 mm.Therefore,after the magnetic circuit optimization,the working clearance is increased to 24 mm and the weight of the robot is reduced by about 20 kg.(4)A set of hardware system suitable for pole climbing robot is designed.Stm32f103zet6 is selected as the main control chip of the control system,and the motor control module is designed;the power system is designed,and the main power supply and switching power supply DC-DC are selected as the voltage reduction chip.(5)The physical prototype of the magnetic adsorption pole climbing robot and the environment experimental platform of metal pillar are built.The experiments of forward and backward,90° steering and working clearance adjustment are carried out on the metal pole. |
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