Research On Design And Control Of Rolling-Adsorption Wall-Climbing Robot

With the increasing number of urban population and the gradual popularization of high-rise buildings,the detection and cleaning of the corresponding building wall surfaces are becoming more and more difficult and dangerous.In view of this problem,the use of wall-climbing robot instead of manual detection is the best solution.In addition to solving the safety problem,machine operation is often more efficient than manual work.It can also be equipped with corresponding tools for welding rust removal of metal walls,cleaning and maintenance of high-altitude curtain walls and ignore the impact of harsh environment.However,the existing wall-climbing robots can only be able to work on a single specific wall surface.In the complex case of encountering multiple types of walls,they usually can not maintain stable adsorption performance and have weak adaptability.This paper refers to the development status of wall-climbing robots at home and abroad.Through theoretical calculation and simulation analysis,aiming at the problems of excessive friction resistance and weak flexibility when the wall of the existing negative pressure adsorption wall-climbing robot moves,a rolling sealing negative pressure adsorption wall-climbing robot is developed,which can effectively improve the flexibility of robot motion and realize its smooth control.After continuous improvement of the robot prototype,the overall design of the robot is finally completed,and an experimental platform is built to carry out the performance experiment and control experiment of the prototype,which can verify the rationality of the design.The main contents and innovations are as follows:Firstly,according to the actual working conditions of the typical working wall characteristics,the overall structure scheme of the wall climbing robot,such as the adsorption mode and the moving mode,is determined.The wheel-track combined moving mechanism and the rolling dynamic sealing cavity are designed,and the virtual prototype of the robot is constructed in three-dimensional software.Secondly,the adsorption force conditions that the wall-climbing robot needs to achieve when stably adsorbing on the wall surface are analyzed,and the minimum safe negative pressure required by the negative pressure system is derived.After that,CFD simulation analysis of the negative pressure adsorption system was carried out in the finite element software,and the sealing effect of the sealing structure was verified.Then,the motion characteristics of the wall-climbing robot on the wall are analyzed,and the kinematics and dynamics models of the robot on the wall are established.After that,the simulation analysis of the robot’s linear and steering motion on the wall surface is carried out in multi-body dynamic simulation software to determine the peak torque of the driving motor when the robot moves.Then,the problems of unstable negative pressure inside the negative pressure chamber and insufficient automation of manual operation of the wall climbing robot under complex wall conditions are improved.An adaptive negative pressure controller and a trajectory tracking controller are designed respectively to ensure that the robot maintains a stable negative pressure while reducing power consumption suddenly,and performs wall tracking operations according to a given desired trajectory.The trajectory tracking control system is simulated in MATLAB/Simulink environment to verify its effectiveness.Finally,two generations of experimental prototypes were made,and the adsorption reliability,load performance,moving speed and control effect of the final physical prototype were tested.The rationality and effectiveness of the design were verified,and the expected objective of the research was achieved.