Wall climbing robot suction force analysis method

Abstract

This invention provides a method for analyzing the adhesion force of a wall-climbing robot. It systematically establishes the mechanical equilibrium equations for three typical instability modes of the robot in a vertical shaft environment: sliding and falling, longitudinal flipping, and lateral flipping, and solves for the minimum adhesion force required by the system. This method comprehensively covers all potential instability risks, overcoming the limitations of traditional methods that only verify the friction between the track material and the wall surface. Furthermore, the model starts from the overall force on the robot, explicitly using the robot's own weight and the friction coefficient of the lining surface as core variables for force analysis. This reveals that gravity is the fundamental source of adhesion and friction, while the friction coefficient is its direct determinant. Therefore, the theoretical calculation of the adhesion force is more scientific, accurate, and reasonable, providing a reliable theoretical basis for robot structural design and safety control.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction, and more specifically to a walking analysis method for a wall-climbing robot. Background Technology

[0002] As a crucial auxiliary structure in the construction of long tunnels, the main function of shafts is to significantly improve the ventilation efficiency of the tunnel during both construction and operation. From a structural mechanics perspective, the construction and long-term operation of shafts is essentially a complex process involving the interaction of their shaft wall structure with various loads such as the surrounding rock mass, temperature field, and pore water pressure. Therefore, clarifying the construction quality and long-term health status of the initial support structure and secondary lining of the shaft is essential for ensuring the overall safety and stability of the shaft structure.

[0003] Currently, the inspection of shaft lining quality mainly relies on two methods: traditional manual inspection and automated equipment inspection. However, both methods have significant limitations: First, traditional manual inspection methods face severe challenges from the working environment. Unlike typical underground engineering projects (such as horizontal tunnels) with relatively small elevation changes, vertical shafts are typically between 300 and 700 meters deep, making them typical ultra-high, confined space operations. In this environment, it is not only difficult to construct a stable and continuous manual inspection platform, preventing the inspection work surface from effectively covering the entire shaft wall, but also exposes inspection personnel to significant safety risks such as falls from heights. Therefore, whether in the construction or operation and maintenance phases, traditional manual inspection methods suffer from fundamental obstacles including high implementation difficulty, high safety risks, low inspection efficiency, and difficulty in guaranteeing coverage.

[0004] Secondly, adopting automated inspection equipment such as wall-climbing robots to replace manual labor presents new technical challenges. The shaft wall environment is complex, especially the primary lining surface, which is often subject to water seepage and dampness. Furthermore, during the concrete pouring process, uneven joints are formed at the formwork joints. These complex conditions place stringent demands on the adsorption system of the inspection equipment: water seepage on the wall reduces the reliability of vacuum adsorption, while significant unevenness compromises the adsorption seal, leading to a significant risk of equipment detachment and fall. Therefore, accurately and rationally calculating and maintaining reliable adsorption force of the inspection equipment under such complex and harsh shaft wall conditions, ensuring operational safety and the stability of the inspection path, has become a core technical problem that urgently needs to be solved. Summary of the Invention

[0005] Purpose of the invention: The purpose of this invention is to address the shortcomings of existing technologies by providing a method for analyzing the adsorption force of a wall-climbing robot, thereby ensuring the stability and reliability of its vertical shaft climbing motion.

[0006] Technical solution: The present invention provides a method for analyzing the adhesion force of a wall-climbing robot, comprising the following steps: The instability modes of the wall-climbing robot are defined, wherein the instability direction of the instability mode includes the depth direction and the circumferential direction of the shaft, and the instability conditions of the instability mode include slippage and overturning; Assuming that the adsorption force and friction force of all adsorption units of the wall-climbing robot are equal, the corresponding equilibrium equation is constructed according to the instability mode. The equilibrium equation takes into account the self-weight of the wall-climbing robot and the coefficient of friction with the wall. Based on the equilibrium equations, the unit adsorption force of each adsorption unit under the instability mode is calculated. The minimum adsorption force required to calculate the adsorption unit should not be less than the maximum value of the unit adsorption force under each instability mode.

[0007] In one feasible implementation, the depth direction of the shaft is set as the first direction, and the circumferential direction of the shaft is set as the second direction. The instability modes include the first direction slip mode, the first direction flip mode, and the second direction flip mode.

[0008] In one feasible implementation, for the slip mode in the first direction, a first equilibrium equation is constructed, which is then constructed as a static equilibrium equation in the first and second directions. For the first direction flipping mode, a second balance equation is constructed, which is constructed as the torque balance equation of the bottom adsorption unit in the first direction. For the second direction reversal mode, a third equilibrium equation is constructed, which is the torque balance equation of the second direction reversal point.

[0009] In one feasible implementation, the first equilibrium equation is constructed as follows:

[0010] In the formula, The coefficient of friction of the wall in the first direction is given by the unit [missing information]. ; For the gravity of the wall-climbing robot, unit ; F i The adsorption force required for each adsorption unit For the wall facing the first The force of adsorption units, per unit ; n The number of adsorption units. The coefficient of static friction; The second equilibrium equation is constructed as follows:

[0011] In the formula, For the gravity of the wall-climbing robot, unit ; The maximum distance between all adsorption units in the first direction, in meters; For the wall facing the first The force of adsorption units, per unit ; n The number of adsorption units; The distance between the vacuum adsorption device and the lowest adsorption unit of the track 8 is in meters. The third equilibrium equation is constructed as follows:

[0012] In the formula, For the gravity of the wall-climbing robot, unit ; The maximum distance between all adsorption units in the first direction, in meters; For the wall facing the first The force of adsorption units, per unit ; n The number of adsorption units; The total width of the robot structure is expressed in meters (m). The width of a single track is 8 meters.

[0013] In one feasible implementation, the calculation of the unit adsorption force of each adsorption unit under the instability mode includes: In the first direction sliding mode ; In the first direction flip mode, ; In the second-direction flip mode, .

[0014] In one feasible implementation, the minimum adsorption force required by the calculated adsorption unit is: .

[0015] A wall-climbing robot climbs walls using a walking module. The walking module includes a walking unit, a driving unit, and an adsorption unit. The adsorption unit is mounted on the walking unit. In the direction of travel of the walking unit, the adsorption unit sequentially contacts the wall surface and generates an adsorption force. The minimum adsorption force of the adsorption unit is not less than the maximum value of the adsorption force of the unit.

[0016] In one feasible implementation, the walking unit adopts a tracked walking mechanism, and the adsorption units are evenly distributed on the outer surface of the track.

[0017] In one feasible implementation, the front end of the wall-climbing robot is equipped with a support unit that assists the walking module in climbing over the joint of the block lining template.

[0018] In one feasible implementation, the front end of the wall-climbing robot is equipped with a rebound unit for non-destructive testing of the surface strength of the concrete lining of the shaft.

[0019] Beneficial Effects: 1. Based on the principles of statics, this invention systematically establishes the mechanical equilibrium equations for three typical instability modes of wall-climbing robots in vertical shaft environments: sliding and falling, longitudinal flipping, and lateral flipping, and solves for the minimum adsorption force required by the system. This method comprehensively covers all potential instability risks, overcoming the one-sidedness of traditional methods that only verify the friction between the track material and the wall surface. Simultaneously, the model starts from the overall force on the robot, explicitly taking the robot's self-weight and the friction coefficient of the lining surface as core variables for force analysis. This reveals that gravity is the fundamental source of adsorption force and friction, while the friction coefficient is its direct determinant. Therefore, the theoretical calculation value of the adsorption force is more scientific, accurate, and reasonable, providing a reliable theoretical basis for robot structural design and safety control.

[0020] 2. This invention, through stability calculations, ensures that the robot can perform both longitudinal (along the depth direction) and lateral (along the circumferential cross-section) crawling within the shaft. Longitudinal stability guarantees that the robot can complete continuous inspection from the shaft opening to the bottom; lateral stability ensures that at any specified depth, the robot can perform complete cross-sectional inspection around the shaft wall. This omnidirectional and flexible inspection mode completely changes the limitations of traditional manual inspection, which has limited coverage and blind spots, enabling comprehensive and thorough evaluation of the shaft lining quality.

[0021] 3. The walking adsorption mechanism of this invention combines the advantages of continuous and efficient movement of tracks with the powerful adaptive adsorption capability of vacuum adsorption claws. Vacuum adsorption claws not only provide stable adsorption force but are also particularly suitable for concrete walls with seepage, overcoming the adverse effects of water seepage on adsorption reliability. Furthermore, the mechanism can be equipped with obstacle-crossing structures such as forearms, effectively traversing uneven areas such as formwork joints in lining construction. Combined with multiple layers of protection from safety ropes, the risk of slippage and falls during robot movement is greatly reduced. Compared to single track adsorption or magnetic adsorption solutions, this invention exhibits superior adaptability, stability, and reliability when facing the unique challenges of seepage, oil contamination, and uneven walls in vertical shafts. Attached Figure Description

[0022] Figure 1 This is a flowchart of the wall-climbing robot adsorption force analysis method of the present invention; Figure 2 This is a three-dimensional schematic diagram of the vertical shaft lining quality inspection robot of the present invention; Figure 3 This is a plan view of the vertical shaft lining quality inspection robot of the present invention; Figure 4 This is a front view schematic diagram of the vertical shaft lining quality inspection robot of the present invention; Figure 5 This is a side view schematic diagram of the vertical shaft lining quality inspection robot of the present invention; Figure 6 for Figure 5 A magnified view of a section at point A in the middle; Figure 7 This is a schematic diagram of the wireless integrated remote control of the vertical shaft lining quality inspection robot of the present invention. Detailed Implementation

[0023] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the embodiments described.

[0024] As a critical passage for ventilation during the construction and operation of long tunnels, the structural safety of shafts is of paramount importance. Throughout their service life, shafts are subjected to multiple loads, including surrounding rock pressure, temperature stress, and pore water pressure. Therefore, regular and comprehensive inspections of the quality of initial support and secondary lining are essential to ensuring the overall stability of the shaft.

[0025] However, current technologies for inspecting the quality of shaft linings face severe challenges, mainly in two aspects: the working environment and equipment adaptability. First, from the perspective of the working environment, vertical shafts are typically 300 to 700 meters deep, constituting extremely confined spaces. This environment makes traditional manual inspection methods virtually impossible. Inspectors not only struggle to obtain a stable working surface along the entire shaft wall, but also face extremely high risks of falls from heights, resulting in low inspection efficiency, limited coverage, and high costs.

[0026] Secondly, from the perspective of equipment adaptability, while using automated equipment such as wall-climbing robots is an ideal alternative, it faces multiple constraints from complex wall conditions in practical applications, making it difficult for its adsorption and walking system to operate stably and reliably. Specifically: 1) Wall dampness and seepage: Water seepage often occurs on the surface of the initial support structure of large-diameter vertical shafts, leading to large-area dampness on the wall surface and even water flow, severely damaging the sealing of vacuum adsorption and causing a sharp decline in adsorption force. 2) Wall contamination and deposits: Due to long-term emissions of smoke and pollutants from construction machinery inside the tunnel, the surface of the secondary lining often adheres to oil stains, dust, and other pollutants. These pollutants not only change the wall friction coefficient but may also form a lubricating isolation layer between the adsorption components and the wall surface, significantly reducing the effective adhesion. 3) Uneven structure: The joints of the formwork for the lining concrete pouring have inherent unevenness. This continuous or discrete geometric abrupt change can instantly destroy the sealing boundary of the adsorption unit.

[0027] In summary, achieving stable and reliable adsorption and movement of testing equipment on the challenging surfaces of shaft linings, which are subject to various adverse conditions such as water seepage, oil contamination, and geometric irregularities, has become a core bottleneck restricting the development of automated testing technology. Based on this, this invention proposes a method for analyzing the adsorption force of a wall-climbing robot, aiming to accurately calculate a reasonable adsorption force to adapt to the complex wall conditions of shafts and ensure operational safety.

[0028] This invention provides a method for analyzing the adhesion force of a wall-climbing robot, such as... Figure 1 As shown, it includes the following steps: S100, Set the instability mode of the wall-climbing robot. The instability direction of the instability mode includes the depth direction and circumferential direction of the shaft. The instability conditions of the instability mode include slippage and rollover.

[0029] Specifically, in shaft inspection applications, the movement patterns of wall-climbing robots can be classified according to their movement paths relative to the direction of gravity: The first type involves robots whose movement direction is parallel to the direction of gravity, moving up and down along the annular wall of a vertical shaft, with their plane of motion perpendicular to the horizontal plane. The adsorption system must provide a continuous and stable adsorption force to resist the robot's own weight and load, preventing it from sliding or falling.

[0030] The second type involves robots moving along the well wall at a certain angle or along a defined spiral path, with a trajectory similar to a helix wound around a cylinder. Their direction of movement forms an angle with the direction of gravity, which can distribute some of the gravity to the adsorption system and the locomotion mechanism, sometimes reducing the requirement for sustained maximum adsorption force.

[0031] We unify the two movement paths described above according to two directions: parallel and perpendicular to the direction of gravity. Let the depth direction of the shaft be the first direction, and the circumference direction of the shaft be the second direction. The first direction is perpendicular to the second direction. It can be seen that the direction of the first type of movement path is consistent with the first direction, i.e., vertical climbing along the shaft depth. The direction of the second type of movement path can be decomposed based on the first and second directions. The vertical movement in the first direction is the same as the first type and can be discussed uniformly. The circumferential movement in the second direction can be understood as a circular motion around the circumference of the shaft, perpendicular to the vertical direction.

[0032] Considering that the wall-climbing robot can maintain a stable state when it crawls and works on the surface of the initial support structure and secondary lining structure of the shaft, it does not slip or fall along the shaft wall during straight movement along the first direction of the shaft depth, and does not overturn when turning with a certain radius along the second direction and moving circumferentially along the shaft depth cross section. Therefore, the instability mode is divided into the following three modes: first direction slip mode, first direction overturning mode and second direction overturning mode.

[0033] Specifically, the first directional sliding mode is the initial state in which the wall-climbing robot slides longitudinally in the shaft and causes a fall; the first directional flipping mode is the initial state in which the wall-climbing robot flips longitudinally in the shaft and causes a fall; and the second directional flipping mode is the initial state in which the wall-climbing robot flips circumferentially in the shaft and causes a fall.

[0034] S200. Assuming that the adsorption force of all adsorption units of the wall-climbing robot is equal, construct the corresponding equilibrium equation according to the instability mode. The equilibrium equation takes into account the self-weight of the wall-climbing robot and the friction coefficient with the wall surface.

[0035] Generally, the adsorption units rely on negative pressure to statically adhere to the surface of the initial support structure or secondary lining structure. Therefore, during normal movement, each adsorption unit in contact with the wall needs to generate negative pressure to achieve smooth movement of the shaft lining inner wall. We assume that the adsorption force of each adsorption unit on the shaft lining inner wall is equal. At the same time, the adsorption unit will generate friction with the wall during adsorption. Here, we assume that the friction force of each adsorption unit relative to the shaft lining inner wall is also equal, and the friction force between each adsorption unit and the wall is also equally divided. That is, at a certain moment, the total friction force generated by the wall-climbing robot and the adsorption units is evenly distributed among the adsorption units.

[0036] Based on the above assumptions regarding equal adsorption and friction forces, corresponding equilibrium equations are established for each instability mode: Based on the slip mode in the first direction, a first equilibrium equation is constructed, which is then converted into static equilibrium equations in the first and second directions. Based on the first direction flipping mode, a second equilibrium equation is constructed, which is constructed as the torque balance equation of the bottom adsorption unit in the first direction. Based on the second-direction flipping mode, a third equilibrium equation is constructed, which is constructed as the torque balance equation of the bottom adsorption unit in the first direction.

[0037] Specifically, the motion of the wall-climbing robot on the vertical shaft wall can be viewed as a static equilibrium problem of a multi-rigid-body system under spatial constraints. The robot generates a normal adsorption force with the wall through its adsorption unit. This adsorption force is further converted into a frictional force along the tangential direction of the wall to overcome gravity and other external loads. According to the basic principles of statics, when the robot is in a stable state, the resultant force of all external forces acting on it (including gravity, the wall's normal reaction force, friction, etc.) in any direction is zero, and the resultant torque about any point is zero.

[0038] Building upon this foundation, this invention introduces the theory of limit equilibrium, which posits that robot instability occurs at a critical point in the equilibrium state. At this critical point, the robot is about to move (slip) or rotate (flip), but this has not yet actually occurred. By establishing the equilibrium equations for this critical state, the minimum adsorption force required to maintain robot stability can be determined.

[0039] Therefore, the establishment of the equilibrium equations for the three instability modes essentially transforms the stable walking problem of a wall-climbing robot on a complex wall surface into a critical equilibrium problem in rigid body statics, thus providing a rigorous mechanical framework for the theoretical calculation of the adsorption force. For the three typical instability modes of the wall-climbing robot in a shaft environment—slippage and fall, longitudinal rollover, and lateral rollover—corresponding mechanical equilibrium equations were constructed based on the force system equilibrium principle and limit equilibrium theory of rigid body statics. The aim is to comprehensively cover all potential instability risks of the robot on complex walls, accurately locate dangerous states under different working conditions, and by solving these equations and taking the maximum value as the basis for adsorption force design, the minimum adsorption force requirement can be scientifically quantified, ensuring the stable operation of the robot under multiple working conditions and providing reliable theoretical support for robot structural design and safety control.

[0040] S300. Based on the equilibrium equations, calculate the unit adsorption force of each adsorption unit under the instability mode.

[0041] In the first-direction sliding mode, the static equilibrium equations for the overall structure of the wall-climbing robot in the first and second directions can be obtained from the equilibrium of concurrent forces. Concurrent force equilibrium means that when multiple forces act simultaneously on the same point of an object (or the lines of action of each force intersect at the same point), if the object is at rest or in uniform linear motion, the vector sum of these forces is zero. In the first-direction sliding mode, the robot is subjected to gravity, the normal reaction force from the wall, and friction, which can be considered equivalent to forces acting on the center of gravity. Since sliding is a translational instability and does not involve rotation, the principle of concurrent force equilibrium is used to establish equations to solve for the minimum frictional force required to prevent the robot from sliding down, and then the required suction force is derived.

[0042] The first equilibrium equation is constructed as follows: (1) In the formula, The weight of the wall-climbing robot's center of gravity. The centroid of the robot coincides with the overall centroid, unit ; For the wall facing the first The force of adsorption units, per unit n is the number of adsorption units. The static friction coefficient is determined by the roughness between the adsorption unit and the shaft wall. The coefficient of friction of the wall in the first direction is given by the unit [missing information]. Since we assume that the frictional force between each adsorption unit and the wall is the same, the friction coefficient here is the friction coefficient between a single adsorption unit and the wall, which is also the friction coefficient between the entire wall-climbing robot and the wall. F i The adsorption force required for each adsorption unit, since we assume that the adsorption force produced by a single adsorption unit is equal, here... F i It can be understood as F 1, F 2, F 3, ..., F n equal.

[0043] Solving equation (1) yields: (2) In the first-direction flip mode, when the wall-climbing robot is longitudinally climbing on the shaft wall and during the rebound process, the robot's movement around the bottom is considered. A In the case of point flipping, A The point is the lowest adsorption unit on the wall surface where the robot adheres, thus the robot as a whole... A By taking the resultant torque, we can obtain A The moment equilibrium equation at a point, also known as the second equilibrium equation: (3) In the formula, For the gravity of the wall-climbing robot, unit ; The maximum distance between all adsorption units in the first direction, in meters; For the wall facing the first The force of adsorption units, per unit ; n The number of adsorption units; For the first Adsorption units and A Distance between points, in meters (m).

[0044] As the robot crawls along the depth of the shaft, as long as the first adsorption unit at the top remains attached to the shaft wall, the robot can be prevented from circling around to the bottom. The point is flipped, thus causing Equation 3 can be transformed into: (4) Solving equation (4) yields: (5) In the second-direction flipping mode, when the wall-climbing robot crawls in a circular motion along a cross-section at a certain depth in a vertical shaft, it easily... The point overturned. The point is the adsorption unit at the bottom of the wall surface, which is horizontally adsorbed. Therefore, the robot as a whole can... By taking the resultant torque, we can obtain The moment balance equation at a point: (6) In the formula, For the gravity of the wall-climbing robot, unit ; The maximum distance between all adsorption units in the first direction, in meters; For the wall facing the first The force of adsorption units, per unit ; n The number of adsorption units; The inner width of the robot's two tracks is 8, in meters. The width of a single track is 8, in meters (m).

[0045] Solving equation (5) yields: (7).

[0046] S400. The minimum adsorption force required for the adsorption unit should not be less than the maximum value of the unit adsorption force under each instability mode.

[0047] Based on the stability discussion of the three instability modes in step S300, the condition for the adsorption force of the adsorption unit to satisfy the stable climbing of the wall-climbing robot is: (8) Substituting equations (2), (4), and (6) into equation (7) and rearranging, we get: (9).

[0048] The above technical solutions were applied to the initial support structure of the No. 2 vertical shaft of the Tianshan Shengli Tunnel in Xinjiang. The No. 2 vertical shaft is located in a high-altitude and cold region and faces the following complex working conditions: high ground stress, large changes in surrounding rock, and significant impact of high ground stress; water accumulation at the bottom of the shaft, which needs to be pumped out during construction; and construction difficulty, as it is a typical "one long, two deep, five high, and two new" extra-long high-altitude and cold region tunnel.

[0049] The weight of the wall-climbing robot , , , , , The friction coefficient between the well wall and the adsorption unit was measured to be 0.78, allowing for the calculation of the minimum adsorption force required for a single adsorption unit of the wall-climbing robot.

[0050] Therefore, the adsorption force of each adsorption claw is designed as follows: At that time, the adsorption stability required for the movement and detection work of the queuing robot can be met.

[0051] Based on the above-mentioned method for analyzing the adsorption force of wall-climbing robots, this paper designs a wall-climbing robot that climbs walls using a walking module. Figure 2-7 As shown. The walking module includes a walking unit, a driving unit, and an adsorption unit. The adsorption unit is installed on the walking unit. In the walking direction of the walking unit, the adsorption unit contacts the wall surface in sequence and generates adsorption force. The minimum adsorption force of the adsorption unit is not less than the maximum value of the adsorption force of the unit.

[0052] In this embodiment, the walking unit adopts a tracked walking mechanism. Specifically, each side of the robot's chassis is provided with an annular track 8, which is made of metal or polymer material. Each track 8 is driven by an independent drive unit. For example, the drive unit is an electric motor 2. By controlling the rotation speed and direction of the electric motors 2 on both sides, the wall-climbing robot can achieve forward, backward, and turning movements. For example, the crawling track 8 is 50cm long, 20cm wide, and 20cm high; the vacuum suction claw 3 has a bottom circle with a radius of 5cm and a top circle with a radius of 3cm. To achieve reliable adsorption, adsorption units are installed on the outer surface of the robot track 8. These units are evenly distributed at regular intervals on the outer circumference of the track 8, forming a negative pressure chamber (or vacuum chamber) at the contact surface between the adsorption units and the vertical shaft lining wall. A vacuum generator mounted on the robot continuously removes air from the chamber, creating a pressure difference between the inside of the negative pressure chamber and the external atmosphere, thus generating a strong normal adsorption force on the wall. This adsorption force is further converted into friction between the track 8 and the wall, sufficient to overcome the robot's own weight and other loads, ensuring stable adsorption and movement on vertical or even inverted walls. The electric motor 2 drives the track 8 while transmitting power to the adsorption units, thus providing acceleration and deceleration.

[0053] In this embodiment, the adsorption unit is disposed on both sides of the track 8. This arrangement ensures that the entire track 8 can be completely adsorbed onto the shaft wall, increasing the indirect contact area between the track 8 and the wall, preventing the track 8 from partially falling off the wall, and ensuring the stability of the movement.

[0054] For example, the vacuum suction claw 3 is constructed as a frustum-shaped structure, with a 5cm radius circle at the bottom and a 3cm radius circle at the top. When the vacuum generator evacuates the air from the frustum-shaped cavity, a negative pressure zone is formed between the bottom surface of the suction claw 3 and the wall surface. Due to the larger bottom area, a greater suction force can be generated under the same negative pressure conditions, ensuring that the robot is stably attached to the wall surface. The suction claw 3 is fixedly connected to the mounting base on the outer surface of the track 8 via its top. Multiple suction claws 3 are evenly distributed along the movement direction of the track 8, moving synchronously with the track 8, and sequentially contacting the wall surface to generate suction. The sloping transition of the frustum can enhance the structural rigidity and avoid stress concentration; it provides a certain degree of flexible deformation capability during suction to adapt to uneven wall surfaces; and it reduces interference with obstacles during movement.

[0055] In addition, corresponding to the front end of the walking unit, the wall-climbing robot is also provided with a support unit 4. The support unit 4 can be constructed as a forward-extending robotic arm, which serves as a front support point for the track 8 to cross at the joint of the lining template, preventing the wall-climbing robot from losing balance and becoming unstable when passing through the joint of the template.

[0056] In one example, the support unit 4 is constructed as a frame-shaped robotic arm with a square outer contour, the side length of which is 25cm. The robotic arm is made of an aluminum alloy rod with a diameter of 1cm. When the wall-climbing robot passes through the joint of the lining template (i.e., the splice of the concrete pouring template, which usually has uneven steps or edges), the adsorption unit on the track 8 may temporarily lose its adsorption force due to the discontinuity of the wall surface. At this time, before the track 8 reaches the joint, the forearm of the support unit 4 first contacts the raised joint part as a temporary support point, supporting the robot body and preventing the body from losing balance due to the track 8 being suspended in the air. This assists the track 8 in traversing the joint, ensuring the overall posture of the robot is stable and preventing it from tipping over or falling.

[0057] To assess the strength of the entire shaft wall concrete, the wall-climbing robot is equipped with a rebound unit at its front end. This rebound unit, aided by the robot's movement and positioning, impacts the wall surface with constant energy. By measuring the rebound value, the compressive strength of the concrete is indirectly estimated, enabling non-destructive testing and automatic data acquisition of the shaft concrete lining surface strength. In this embodiment, the rebound unit is a wireless rebound hammer 1, and a rebound clamp 5 is used to mount it. The rebound clamp 5 includes a front clamp and a rear support, matching the cylindrical body of the wireless rebound hammer 1 to achieve uniform circumferential clamping. The support is an equilateral triangle, providing the strongest geometric stability, resisting the multi-directional torque generated by the rebound impact, and providing sufficient lever arm to disperse and transfer the impact reaction force to the robot body. The wireless rebound hammer 1 is securely installed at the front end of the robot to ensure stable positioning during testing. During rebound testing, the impact energy of the rebound hammer 1's impact rod is stably transmitted to the concrete wall surface, ensuring that the impact direction of the rebound hammer 1 is perpendicular to the wall surface, avoiding detection errors caused by angular deviations. It absorbs the recoil force after the rebound hammer 1's impact, reducing impact disturbances to the robot body, replacing manual hand-held operation, and enabling the rebound test to be completed automatically as the robot moves.

[0058] The rebound unit interacts with the control unit wirelessly, and the control unit is controlled by the wireless integrated remote control 9. The wireless integrated remote control 9 has a box-type structure and provides convenient conditions for manual wellhead operation.

[0059] The climbing robot's crawling and working control module 7 is divided into two independent parts, front and rear, with an overall rectangular shape, located in the middle of the two crawling tracks 8. The two control modules 7 are hinged together by a steering shaft 6, which enables relative rotation between the two control modules 7. This design allows the robot to adapt to local unevenness in the vertical shaft wall when climbing, maintaining the maximum contact area between the tracks 8 and the wall, and preventing parts of the tracks 8 from becoming suspended and the adhesion force from decreasing due to excessive rigidity of the robot body.

[0060] The steering shaft 6 is shaped like a hammer and consists of three parts: a 3cm diameter sphere at the head, a cylindrical connecting rod in the middle, and a disc-shaped fixed end at the bottom. This structure essentially forms a ball joint, allowing relative rotation between the two control modules 7 about three orthogonal axes, including pitch rotation to adapt to changes in the wall surface along the robot's direction of travel, yaw rotation to adapt to attitude adjustments during turns, and roll rotation to adapt to unevenness along the width of the wall surface.

[0061] The steering shaft 6 is not directly connected to the tracks 8. Each crawling track 8 is installed on both sides of the corresponding control module 7, which serves as the load-bearing frame for the tracks 8. The two ends of the steering shaft 6 are respectively connected to the adjacent end faces of the front and rear control modules 7. When the front control module 7 rotates relative to the rear control module 7, the two tracks 8 installed on the front control module 7 deflect as a whole, thereby achieving attitude coordination between the front and rear track groups 8.

[0062] In terms of arrangement, the first steering axis 6 is positioned at one-quarter of the length between the two control modules 7, and the second steering axis 6 is positioned at three-quarters of the length, meaning that the front and rear control modules 7 are arranged in series with two steering axes 6. This arrangement increases the robot's degree of freedom in attitude adjustment, giving the robot a three-segment structure. The front and rear modules can independently adjust their attitudes to adapt to more complex wall unevenness, while also distributing the force on each individual steering axis 6, thus improving structural reliability.

[0063] Through the design of the steering shaft 6, the front and rear control modules 7 can rotate relative to each other, so that the front and rear tracks 8 can respectively adhere to the wall at different angles, avoiding the suspension of some tracks 8 due to the rigidity of the body, ensuring that all adsorption units can effectively contact the wall, thereby significantly improving the robot's adsorption stability and turning flexibility on complex walls.

[0064] In addition, the support unit 4 of the shaft lining quality inspection robot is connected to a safety rope fixed to the ground. The length of the safety rope should be greater than the shaft depth of 50m, and the cross-sectional diameter of the safety rope should be 1. Its function is to prevent the entire wall-climbing robot from falling and becoming unstable.

[0065] As described above, although the invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A wall-climbing robot suction force analysis method, characterized by, Includes the following steps: The instability modes of the wall-climbing robot are defined, wherein the instability direction of the instability mode includes the depth direction and the circumferential direction of the shaft, and the instability conditions of the instability mode include slippage and overturning; Assuming that the adsorption force and friction force of all adsorption units of the wall-climbing robot are equal, the corresponding equilibrium equation is constructed according to the instability mode. The equilibrium equation takes into account the self-weight of the wall-climbing robot and the coefficient of friction with the wall. Based on the equilibrium equations, the unit adsorption force of each adsorption unit under the instability mode is calculated. The minimum adsorption force required to calculate the adsorption unit should not be less than the maximum value of the unit adsorption force under each instability mode.

2. The wall-climbing robot suction force analysis method according to claim 1, wherein The depth direction of the shaft is defined as the first direction, and the circumferential direction of the shaft is defined as the second direction. The instability modes include the first direction slip mode, the first direction flip mode, and the second direction flip mode.

3. The method for analyzing the adhesion force of a wall-climbing robot according to claim 2, characterized in that, For the slip mode in the first direction, a first equilibrium equation is constructed, which is then constructed as a static equilibrium equation in the first and second directions. For the first direction flipping mode, a second balance equation is constructed, which is constructed as the torque balance equation of the bottom adsorption unit in the first direction. For the second direction reversal mode, a third equilibrium equation is constructed, which is the torque balance equation of the second direction reversal point.

4. The wall-climbing robot suction force analysis method according to claim 3, wherein The first equilibrium equation is constructed as follows: In the formula, is the friction coefficient of the first direction wall surface, unit ; is the gravity of the wall-climbing robot, unit ; F i is the adsorption force required by each adsorption unit, is the force of the wall surface on the first adsorption unit, unit ; n is the number of adsorption units, is the static friction coefficient; The second equilibrium equation is constructed as follows: In the formula, For the gravity of the wall-climbing robot, unit ; The maximum distance between all adsorption units in the first direction, in meters; For the wall facing the first The force of adsorption units, per unit ; n The number of adsorption units; For the first The distance between each adsorption unit and the flipping point, in meters; The third equilibrium equation is constructed as follows: In the formula, For the gravity of the wall-climbing robot, unit ; The maximum distance between all adsorption units in the first direction, in meters; For the wall facing the first The force of adsorption units, per unit ; n The number of adsorption units; The inner width of the robot's two tracks is 8, in meters. The width of a single track is 8 meters.

5. The wall-climbing robot suction force analysis method according to claim 4, wherein The calculation of the unit adsorption force of each adsorption unit under the instability mode includes: in the first direction slip mode, ; in the first direction flip mode, ; In the second direction flipping mode, .

6. The wall-climbing robot suction force analysis method according to claim 4, wherein The minimum adsorption force required by the calculated adsorption unit is: 。 7. A wall-climbing robot, characterized in that, The wall-climbing is achieved through a walking module, which includes a walking unit, a driving unit, and an adsorption unit. The adsorption unit is installed on the walking unit. In the direction of travel of the walking unit, the adsorption unit contacts the wall surface in sequence and generates an adsorption force. The minimum adsorption force of the adsorption unit is not less than the maximum value of the adsorption force of the unit.

8. The wall-climbing robot according to claim 7, characterized in that, The walking unit adopts a tracked walking mechanism, and the adsorption units are evenly distributed on the outer surface of the track.

9. The wall-climbing robot according to claim 7, characterized in that, The front end of the wall-climbing robot is equipped with a support unit that assists the walking module in climbing over the joint of the block lining template.

10. The wall-climbing robot according to claim 7, characterized in that, The front end of the wall-climbing robot is equipped with a rebound unit for non-destructive testing of the surface strength of the concrete lining of the vertical shaft.

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