Structural Design And Research Of Bridge Inspection Flying Wall-climbing Robot

As the country’s emphasis on the strategy of a strong transportation nation continues to grow,China now has more than one million bridges in service,with the number of new bridges growing.However,bridge safety issues are becoming increasingly prominent and bridge safety accidents are a cause for concern.Bridges suffer from wall cracks,detachment,member deformation and structural position shift,etc.Regular inspection of bridges to understand their health and disease conditions and to take targeted repair and reinforcement measures can effectively prevent bridge fractures,collapses and other safety accidents.At present,in the face of bridge inspection robots,wall climbing robots have poor barrier crossing ability and slow moving speed,although they have a long endurance.Although the flying robot has fast movement speed and wide range of motion,it exists that it cannot get close to the bridge body,which leads to limited detection.To address the above problems,this thesis will propose a flying wall-climbing robot for bridge inspection.This thesis mainly includes the following contents:(1)Analyzing the working characteristics of bridge inspection robots and sorting out the functional characteristics and working mechanism of flying wall climbing robots,this thesis proposes a split mechanical structure,with the front and rear parts connected by a tilting mechanism,which enables the robot to have both flying and wall climbing functions by changing the robot’s attitude.The overall structural design of the flying and climbing robot is determined,and the flight mode,adsorption mode,walking mode and driving mode are established,and the preliminary calculation and selection of the main parts of the robot are made.(2)Through analyzing the motion state of the flying wall-climbing robot,based on the calculation results of XFLR software,the basic wing shape of the rotor was selected,and the chord length and the actual angle of orientation of each section of the rotor were calculated based on the theory of minimum energy design of the rotor.(3)The aerodynamic analysis of the robot during flight and wall climbing was carried out to verify the rationality of the structural design and aerodynamic layout of the robot.The simulation analysis of different distances between the wall and the rotor was carried out,and it was concluded that the aerodynamic characteristics of the rotor were almost unaffected by the wall when the distance was greater than about 80 mm;according to the pressure cloud diagram of the robot body in the wall climbing state,the robot frame structure was optimized,and the plate and beam structure was changed to a row frame structure,and the thrust of the rotor increased by 11% when the robot climbed the wall after optimization.(4)Analyze the stable adsorption conditions of the climbing wall state of the flying wall climbing robot,establish the kinematic model of the robot climbing wall,simulate the climbing wall condition of the flying wall climbing robot using ADAMS software,set the mouth-shaped path climbing condition,add the lateral overturning moment in the climbing wall simulation to simulate the real working environment of the robot,analyze the displacement,velocity and force situation of the robot under the two environments,the results show that The robot can resist 4N? m lateral tilting disturbance in the wall climbing condition.