Analysis and Evaluation of Continuous Collapse of Saddle Arch Roof of Jinan East Railway Station
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.
NETL
NSTL
万方数据
维普
