| With the rapid development of heavy industry,more and more large buildings need to use metal steel.Metal steel placed in the air for a long time will appear corrosion,cracks and other problems,resulting in leakage,collapse and other serious safety accidents.Therefore,the detection and maintenance of high-altitude large metal steel is very important.At present,the most commonly used way is to build scaffolding for manual detection.Due to the low safety factor,low efficiency and high cost of manual operation in the high air,it is urgent to use special machines to replace manual operation.In order to solve this problem,this paper designs a crawler wall-climbing robot that can overcome obstacles and carry working tools to work at altitude instead of manual work.The main research work of wall-climbing robot in this paper is as follows:(1)Combined with the actual working conditions of the wall-climbing robot,the functional requirements and design indicators of the wall-climbing robot are proposed.Through the analysis of the walking scheme,adsorption scheme and driving scheme of the wall-climbing robot,the mechanical structure scheme of the permanent magnet adsorption crawler wall-climbing robot is finally selected,and then the structural design of the wall-climbing robot is completed.And using Solidworks software to draw the three-dimensional modeling of the whole structure of the wall-climbing robot.(2)The mechanical space model of the wall-climbing robot has been established.Through statistical analysis,the minimum adsorption force of the wall-climbing robot is obtained when it is stationary on the metal wall without slipping and overturning failure.Through kinematic analysis,the minimum driving torque of the wall-climbing robot is obtained when it is moving straight and turning on the metal wall.Matlab software is used to calculate the minimum adsorption force that the magnetic adsorption unit should meet and the minimum driving torque that the driving motor needs to output.Based on the obstacle crossing principle of the wall-climbing robot,the obstacle crossing process is calculated and analyzed,and the maximum obstacle crossing value is obtained.Finally,the dynamics and kinematics of the wall-climbing robot are analyzed by Adams software,which verifies the rationality of the above structure design.(3)Based on the structural design of the magnetic adsorption device,various magnetic circuits were simulated and analyzed through Maxwell magnetic field analysis software to determine the magnetic circuit types of the magnetic adsorption device.By controlling a single variable,each size parameter in the magnetic adsorption device was simulated and analyzed,and its structure size was optimized and adjusted according to the simulation results,so as to obtain a larger magnetic adsorption force.(4)Remote wireless remote control is used to control the wall-climbing robot.According to the control requirements and combined with the current situation,a complete set of wall-climbing robot control schemes is designed,and the hardware and software design of each module of the main controller and wireless transceiver are designed,and part of the hardware design circuit diagram and software design flow chart are given.Instructions are sent and received via the CAN bus.(5)Based on the above research,the prototype of the wall-climbing robot is completed,the experimental platform and control system of the prototype are built,and the mobile performance,steering performance,load capacity and obstacle crossing ability of the wall-climbing robot are tested and tested.The test results meet the expected requirements. |
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