A Heavy Climbing Robotic Platform For Geotechnical Applications

摘要

The paper deals with the consolidation of rocky slopes and walls and proposes enhanced automation and original solution to avoid risky undertakings, when firming-up is accomplished to safeguard peopled areas, highways, dwelling houses or public works. The topic shows growing environmental concern, aiming at removing human operators, unless, possibly, for preliminary in-site set-ups. The prospected solution looks after a goal-oriented robotic rig enabled for tethered wall climbing and equipped for churn drill, boring and cast-in-situ piling. The work-cycle is fully monitored, to provide remote evidence whether tasks are performed the right way and to collect any relevant (basic geology, on-duty remarks, etc.) data, supplying full on-line (with no extra-cost) assessment of the achieved issues. The investigation avails itself of proved technologies and existing fixtures, suitable for compelling requests and dangerous work-conditions and is based on the collaboration with experts currently engaged for rocky wall consolidation and owners of several patented devices. Hereafter few hints on the overall arrangement are given, to enlighten the climbing motion sweeping out the rocky walls. This paper deals with the development of the main module of Roboclimber: the climbing structure. The design methodology and the mechatronic solutions are presented and discussed at functional and structural levels.