站房钢结构维护用磁吸附爬壁机器人设计及试验研究
Analysis and Evaluation of Continuous Collapse of Saddle Arch Roof of Jinan East Railway Station
田承昊 1解振鹏 2李伟2
作者信息
- 1. 中国铁路设计集团有限公司建筑院,天津 300251
- 2. 中铁十局集团城建工程有限公司,山东济南 250000
- 折叠
摘要
本文设计一类用于H型及箱型断面钢柱喷砂、检测、除锈的磁轮式爬壁机器人,以进行站房钢柱高空相关作业的人工替代.通过力学分析,确定机器人负载、磁力布置及大小,以及确保稳定爬行和不倾覆的负载冗余.通过机械设计,使得机器人具有四驱传动能力,设计的水平减振装置满足了机器人对壁面有一定适应性.针对沿柱爬行的路径跟踪问题,开发了一种基于改进的模糊差速PID 控制算法的控制器,实时根据机器人本体纵中心轴线与柱参考面的位置关系合理调整双电机转速,实现轨迹纠偏,结果表明该方法满足控制精度要求,可实现机器人的稳定运行.经集成测试及迭代优化,研制了爬壁机器人样机及中试机,并在济南东站示范应用.试验结果显示,机器人可在多工况下作业,满足设计指标.
Abstract
A type of magnetic wheeled wall climbing robot has been designed for sandblasting,inspection,and rust removal of H-shaped and box shaped steel columns,to replace manual high-altitude operations on station steel columns.Through mechanical analysis,determine the robot's load,magnetic force arrangement and size,as well as ensure stable crawling and non overturning load redundancy.Through mechanical design,the robot has the ability of four-wheel drive transmission,and the designed horizontal vibration damping device meets the robot's certain adaptability to the wall surface.A controller based on an improved fuzzy differential PID control algorithm was developed to address the path tracking problem of crawling along columns.The controller adjusts the dual motor speed in real time according to the position relationship between the longitudinal center axis of the robot body and the column reference plane,achieving trajectory correction.The results show that the method meets the control accuracy requirements and can achieve stable operation of the robot.After integrated testing and iterative optimization,a prototype and pilot machine of a wall climbing robot were developed and demonstrated for application at Jinan East Station.The experimental results show that the robot can operate under multiple working conditions and meet the design specifications.
关键词
爬壁式/机器人/磁吸附单元/H型断面钢柱/控制器/路径跟踪Key words
wall-climbing/robot/magnetic adsorption unit/intelligent controller path tracking引用本文复制引用
基金项目
中国铁路设计集团有限公司科技开发课题(2021A240705)
出版年
2024
NETL
NSTL
维普
万方数据