桥塔涂装负压爬壁机器人稳定吸附关键参数研究

doi:10.12141/j.issn.1000-565X.250478

华南理工大学学报(自然科学版)

桥塔涂装负压爬壁机器人稳定吸附关键参数研究

马登成¹ 孙关一¹ 刘红林² 王硕杨¹

1.长安大学高速公路筑养装备与技术教育部工程研究中心，陕西西安 710064；

2.山东东岳专用汽车制造有限公司，山东济宁 272000

发布日期:2025-02-27

Study on Key Parameters for Stable Adhesion of Negative Pressure Wall-Climbing Robots for Bridge Tower Coating

MA Dengcheng¹ SUN Guanyi¹ LIU Honglin² WANG Shuoyang¹

1.Engineering Research Center of Highway Construction and Maintenance Equipment and Technology，Ministry of Education，Chang'an University，Xi’an 710054, Shaanxi, China；

2.Shandong Dongyue Special Purpose Vehicle Manufacturing Co., Ltd., Jining 272000, Shandong, China

Published:2025-02-27

摘要/Abstract

摘要：

针对传统桥塔涂装操作方式工作效率低下、成本高昂、安全风险高等问题，设计开发一款能够适应桥塔外壁高空作业的负压爬壁机器人。为确保爬壁机器人在指定工作高度能够稳定吸附，对爬壁机器人在桥塔高处工作时遭遇风载的环境进行了模拟，得到爬壁机器人相应的气动六分力系数，进行了爬壁机器人在桥塔工作时的受力分析，确定了爬壁机器人能够在风载环境下实现稳定吸附所需的最小吸附力，求得负压发生装置所需的风量、风压、转速、功率等关键参数；为提高爬壁机器人吸附稳定性，对负压腔结构形状进行优化，通过Fluent仿真软件进行流体仿真，探究爬壁机器人在风载环境作用下负压腔不同因素下对吸附力的影响，得到受风载影响状态下爬壁机器人负压腔离地高度、负压腔隔层厚度与吸附力之间的理论关系。最后，根据仿真结果，对负压腔进行结构优化并搭建实验样机，实验测试了优化后的爬壁机器人的吸附稳定性，验证了理论与仿真分析的正确性，为负压吸附式爬壁机器人结构设计提供理论依据。

关键词: 桥塔爬壁机器人, 负压吸附, 力学分析, 仿真模拟, 实验验证

Abstract: To address the issues of low work efficiency, high cost, and significant safety risks associated with traditional bridge pylon painting operations, a negative-pressure wall-climbing robot adaptable to high-altitude work on the outer wall of bridge pylons was designed and developed. To ensure the stable adsorption of the wall-climbing robot at the specified working height, the wind-loaded environment encountered by the robot during high-altitude operations on bridge pylons was simulated, and the corresponding aerodynamic six-component force coefficients of the robot were obtained. Force analysis of the wall-climbing robot during its operation on bridge pylons was conducted to determine the minimum adsorption force required for the robot to achieve stable adsorption under wind load conditions, as well as to calculate key parameters of the negative-pressure generating device, including air volume, wind pressure, rotational speed, and power. To improve the adsorption stability of the wall-climbing robot, the structural shape of the negative-pressure chamber was optimized. Fluid simulations were performed using Fluent software to investigate the influence of different factors of the negative-pressure chamber on the adsorption force under wind load conditions, and the theoretical relationships between the ground clearance of the negative-pressure chamber, the thickness of the negative-pressure chamber's partition layer, and the adsorption force were obtained when the robot was subjected to wind loads. Finally, based on the simulation results, the structure of the negative-pressure chamber was optimized and an experimental prototype was built. Experimental tests were carried out on the adsorption stability of the optimized wall-climbing robot, which verified the correctness of the theoretical and simulation analyses and provided a theoretical basis for the structural design of negative-pressure adsorption wall-climbing robots.

Key words: bridge pylon wall-climbing robot, negative-pressure adsorption, mechanical analysis, simulation, experimental verification

马登成, 孙关一, 刘红林, 等. 桥塔涂装负压爬壁机器人稳定吸附关键参数研究[J]. 华南理工大学学报(自然科学版), doi: 10.12141/j.issn.1000-565X.250478.

MA Dengcheng, SUN Guanyi, LIU Honglin, et al. Study on Key Parameters for Stable Adhesion of Negative Pressure Wall-Climbing Robots for Bridge Tower Coating[J]. Journal of South China University of Technology(Natural Science Edition), doi: 10.12141/j.issn.1000-565X.250478.

[1]	黄海新, 王峥, 程寿山, 等. 负压吸附桥梁检测爬壁机器人的本体结构优化设计[J]. 华南理工大学学报(自然科学版), 2023, 51(12): 21-33.
[2]	熊二刚, 祖坤, 胡勤斌, 等. 无腹筋混凝土受弯构件基于力学分析的受剪计算[J]. 华南理工大学学报(自然科学版), 2022, 50(11): 115-124.
[3]	吴林萍, 马尚君, 张建新, 等. 基于参数匹配的二级行星滚柱丝杠动力学分析[J]. 华南理工大学学报（自然科学版）, 2021, 49(9): 126-134.
[4]	盛兴旺, 郑严煌, 郑纬奇, 等. 基于实时阴影技术的混凝土箱梁竖向温度梯度模式[J]. 华南理工大学学报（自然科学版）, 2020, 48(10): 40-47.
[5]	李明达隗海林门玉琢包翠竹. 列队行驶工况下的油罐车气动阻力研究 [J]. 华南理工大学学报（自然科学版）, 2018, 46(4): 29-34,43.
[6]	臧孟炎孟宁褚淑敏陈勇. 变速工况下某变速器壳体动态响应分析[J]. 华南理工大学学报（自然科学版）, 2017, 45(8): 1-6.
[7]	徐文东陈仲李夏喜邢琳琳钱迪秦臻. 天然气压力能用于发电与制干冰的一体化工艺[J]. 华南理工大学学报（自然科学版）, 2016, 44(11): 41-48.
[8]	叶福民朱如鹏鲍和云靳广虎. 非等模数非等压力角行星齿轮系的动力学均载特性[J]. 华南理工大学学报（自然科学版）, 2011, 39(1): 117-123.
[9]	肖新颜叶永清. 共沉淀法合成(Ni _1/3 Co _1/3 Mn _1/3 )(OH)₂热力学分析[J]. 华南理工大学学报（自然科学版）, 2010, 38(4): 30-34,44.
[10]	詹小丽王端宜. 基于动态力学分析对改性沥青粘弹性能的研究[J]. 华南理工大学学报（自然科学版）, 2010, 38(3): 37-40，52.
[11]	段福海郭飚胡青春谢存禧. 齿轮中心双流传动系统的动力学分析[J]. 华南理工大学学报（自然科学版）, 2008, 36(8): 117-122.
[12]	石林陈定盛. 钾长石一硫酸钙一碳酸钙体系的热力学分析[J]. 华南理工大学学报（自然科学版）, 2007, 35(5): 94-99.
[13]	华贲. 中国城市建筑能源系统的集成创新[J]. 华南理工大学学报（自然科学版）, 2007, 35(10): 111-116.
[14]	王春花陈清林华贲陈梓剑. 延迟焦化主分馏塔工艺模拟与扩能分析[J]. 华南理工大学学报（自然科学版）, 2006, 34(12): 110-114.
[15]	吴会军, 朱冬生, 李军, 等. 地冷耦合除湿型空调系统的热力学分析(英文)[J]. 华南理工大学学报(自然科学版), 2003, 31(7): 37-41.

桥塔涂装负压爬壁机器人稳定吸附关键参数研究

Study on Key Parameters for Stable Adhesion of Negative Pressure Wall-Climbing Robots for Bridge Tower Coating

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价