负压吸附桥梁检测爬壁机器人的本体结构优化设计  

Optimized Design of the Main Structure of a Wall-Climbing Robot for Bridge Detection Based on Negative Pressure Adsorption

作　　者：黄海新 王峥 程寿山 李春明 HUANG Haixin;WANG Zheng;CHENG Shoushan;LI Chunming(School of Civil and Transportation Engineering,Hebei University of Technology,Tianjin 300401,China;Research Insti-tute of Highway Ministry of Transport,Beijing 100080,China;Tianjin Transportation Infrastructure Maintenance Group Co.,Ltd.,Tianjin 300401,China)

机构地区：[1]河北工业大学土木与交通学院,天津300401 [2]交通运输部公路科学研究所,北京100080 [3]天津市交通运输基础设施养护集团有限公司,天津300401

出　　处：《华南理工大学学报（自然科学版）》2023年第12期21-33,共13页Journal of South China University of Technology(Natural Science Edition)

基　　金：天津市交通运输科技发展计划项目(2021-29,2022-48);桥梁结构安全技术国家工程实验室开放课题(2019-QKF02);旧桥检测与加固技术交通行业重点实验室(北京)开放课题(2020-JQKFKT-3)。

摘　　要：针对桥梁高墩、梁底等区域检测困难的问题,设计开发了一款基于负压吸附的桥梁病害检测爬壁机器人。针对其自身的吸附稳定性,建立并推导了满足抗滑移和抗倾覆条件下的吸附力指标计算式,据此确定能在各角度壁面实现稳定吸附时机器人所需的最小吸附力。结果表明:为确保机器人可靠工作,吸附模块需提供53.0N的吸附力;结合经验公式给出离心叶轮的初步设计方案并利用Fluent对叶轮流域进行流体力学仿真及响应面优化,建立了由吸附力与扭矩共同构成的评价函数,并给出了函数值最佳时的叶轮设计参数,使吸附模块在满足稳定性的前提下,综合评价函数值较初设方案提升了3.4%;对负压腔进行拓扑优化,综合考虑拓扑优化结果及负压腔气动性能,获得了腔体内加强肋的构造及布置形式,其中与车轮支撑臂相衔接的加劲肋为“八”字形与直线型镂空构造设计;优化后负压腔的最大竖向位移值减小为原模型的18.5%,而质量仅增加了16.9%,加强肋的精准布设效果明显,成功将竖向变形控制在了合理的范围内。最后,利用UTR6180型光敏树脂借助3D打印工艺完成了样机制作,其尺寸约为300mm×280mm×15mm,质量约为1.15kg。将样机置于多工况下进行性能测试,结果表明:本研究设计开发的爬壁机器人可在多种桥梁壁面稳定吸附并行进,不存在打滑、漂移现象。To address the challenging task of inspecting hard-to-reach areas,such as high piers and the bottom of bridges,the paper developed a wall-climbing robot for bridge disease detection based on negative pressure adsorption.For the robot’s own adsorption stability,this paper established and derived a formula for calculating the adsorption force index under conditions of anti-slip and anti-overturning,based on which the minimum adsorption force required by the robot to achieve stable wall adsorption at all angles was determined.The results show that to ensure the reliable operation of the robot,the adsorption module needs to provide 53.0 N adsorption force.The preliminary design of the centrifugal impeller was formulated based on empirical principles,followed by fluid mechanics simulation and response surface optimization of the impeller basin using Fluent.An evaluation function,comprising adsorption force and torque,was established to optimize the impeller design parameters to maximize the comprehensive evaluation function value of the adsorption module.Compared to the initial design scheme,the optimized design achieved a 3.4%increase in the evaluation function value while maintaining stability.Taking into consideration the aerodynamic performance of the chamber along with the topology optimization results,topology optimization of the negative pressure chamber was performed.The structure and arrangement of reinforcing ribs inside the chamber were obtained,with the reinforcing ribs connected to the wheel support arm designed in“八”-shaped and linear hollow structures.This optimization reduced the maximum vertical displacement of the negative pressure chamber to 18.5%of the original model,with a minimal increase in mass of 16.9%.It shows that the precise layout effect of the strengthening rib is obvious,and the vertical deformation is successfully controlled within a reasonable range.Finally,a prototype was constructed using UTR6180 photosensitive resin and 3D printing technology,with approximate dimensions of 3

关 键 词：爬壁机器人 负压吸附 响应面优化 拓扑优化 样机试验 

分 类 号：U446.3[建筑科学—桥梁与隧道工程]