| With the continuous development of economy,the number of newly built Bridges in China is increasing.At present,there are more than 1 million Bridges in service.The aging and disease of Bridges are becoming more and more serious,the bridge safety problem is becoming more and more prominent,the bridge safety accidents are shocking,causing bad social impact and significant social property losses.Typical bridge diseases include wall cracks,falling off,component deformation and structural position deviation,etc.Regular bridge inspection work,grasp the bridge health status and disease,targeted repair and reinforcement measures,can effectively avoid the occurrence of bridge fracture,collapse and other safety accidents.Thrust adsorption wall-climbing robot has low requirements on the smoothness and smoothness of the adsorption wall surface.It is suitable for concrete and steel bridge walls and has the advantages of close range detection and sampling ability.It can carry ultrasonic sensors,infrared thermal imagers,electromagnetic radar,image acquisition devices and other detection equipment to complete bridge detection operations.In this paper,a coaxial dual-rotor thrust adsorption bridge detection wall-climbing robot(hereinafter referred to as the robot)is developed.Through optimization design and experimental research,the quality of the whole machine is effectively controlled,the load capacity is enhanced,the energy consumption is reduced and the endurance time is increased.The specific research contents are as follows:(1)The overall structure of the robot is analyzed,the rotor profile of the thrust adsorption mechanism is selected according to the actual working situation of the robot,and the aerodynamic parameters affecting the thrust and power of the robot are discussed.The comparison and analysis of the force of the robot on the wall surface with different working angles are completed.By establishing a mathematical model among the robot size,power and weight,the principal parameters of the robot are determined.(2)The parameterized aerodynamic models of the upper and lower rotors of the robot thrust adsorption mechanism were established.The control variable method was used to control the aerodynamic parameters.The CFD simulation model was established respectively to determine and optimize the aerodynamic parameters of the thrust adsorption mechanism.Based on the optimized aerodynamic parameters of the robot thrust adsorption mechanism,the aerodynamic performance of the robot at different rotating speeds was solved.The results show that the sum of torques generated by the upper and lower rotors tends to zero,and the flow field of the upper rotor is seriously disturbed by the lower rotor.(3)Using ANSYS Workbench software Topology Optimization module,the Topology Optimization of the upper and lower plates of the robot frame was completed;Based on the topology results,MOGA algorithm and Adaptive Single-objective algorithm were used to optimize the structural parameters of the upper and lower plates of the rack and complete the optimization design of the mechanism.The overall quality of the upper and lower plates after optimization was reduced by 48.64% and 16.98% respectively compared with that before optimization.(4)Completed the design of robot power supply system and control system,and trialproduced robot prototype;Build the prototype performance test platform;The thrust adsorption mechanism and the climbing ability of the robot were tested respectively.The experimental results show that the aerodynamic simulation results of the thrust adsorption mechanism are reliable.The deviation of the rotation center axis of the upper and lower rotors is closely related to the performance of the thrust adsorption mechanism,and the robot has good wall climbing ability. |
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