Design And Research Of An Adsorption Wall Climbing Robot For Vibration Detection Of Glass Curtain Walls

Glass curtain walls are the main materials used in modern urban high-rise buildings,and they have good applications in different buildings due to their beautiful appearance and lightweight transportation.However,glass curtain walls may fall off during long-term use.In order to effectively reduce the occurrence of related safety accidents,glass detection technology has received high attention from the industry.Although traditional manual detection methods have certain detection effects,the measurement data is easily affected by the external environment and carries high risks,making it difficult for manual detection to achieve the purpose.Designing a device that replaces manual testing to detect the stability of glass curtain walls is particularly important for improving the detection accuracy of glass curtain walls.Firstly,this article draws inspiration from the development status and research achievements of wall climbing robots,and combines the design ideas of other wall climbing robots to propose the specific content of this research topic,and elaborates on the research direction and design ideas.The overall mechanical structure of the adsorption type wall climbing robot designed for this project,as well as the design and implementation of different components,were introduced.The adsorption type wall climbing robot designed in this article uses a vacuum pump machine to alternately adsorb to achieve climbing,and adds a mechanical arm to the overall mechanism design.One mechanical arm carries a rubber hammer of the fixture to excite the glass curtain wall,while the other mechanical arm carries an acceleration sensor to extract and collect vibration signals.Secondly,according to the 3D model of the designed wall climbing robot and the kinematics D-H coordinate method,the corresponding robot motion model is established,and the corresponding motion expression is calculated,thus the inverse kinematics of the robot arm is calculated;At the same time,a dynamic model of the robot climbing process was established;A virtual prototype of a wall climbing robot was established using the dynamic simulation software ADAMS,and dynamic simulation analysis was conducted on the wall climbing robot to verify its reliability and rationality during wall movement.Then,corresponding vibration signals are extracted for different excitation conditions of the glass curtain wall,and the vibration signals are analyzed.The vibration amplitude of the glass curtain wall is determined based on the envelope spectrum peak and area under different load signal components,providing a basis for subsequent monitoring of the reliability of the glass curtain wall.Finally,in order to better improve the safety of the robot,the simulation analysis of the wall climbing robot is carried out.The overall mechanism and key parts are analyzed by statics.Starting from the lightweight and stability of the robot,the rationality of the structural design is verified by the experimental results.