Wind Turbine Tower Cleaning Robot Structure Design And Its Adsorption Performance

Among all the known energies, wind power is the most widely-used power that can reduce the threat of energy crisis and decrease carbon emission. Meanwhile, it can also alleviate greenhouse effect. Wind turbine is the major load-bearing form of wind power whose maintenance is very essential. However, most of the maintenance work can only be finished by human labor, which is very inefficient and labour-intensive. Therefore, it is very necessary to replace such manual work. This paper aims at designing a climbing robot that can flush the wind turbine tower and verifying the accuracy of this robot after structure design,mechanical analysis magnetic and adsorption system simulation analysis research.Firstly, to design a climbing robot which can be applied to flush the turbine tower, the paper provides a general introduction of the walking style, adsorption method and flush solution and put forward a concrete execute solution that is suitable to the flushing work of wind turbine tower after analyzing the advantages and disadvantage of different structures scheme. In the following part, the author designs the who structures of this flushing robot including walking mechanism, adsorption mechanism and steering mechanism, suspension and magnetic adsorption gap regulating mechanism.Secondly, in this paper the author establishes a mathematical model of the robot when it does not move, walks straight, and spins on the tower drum and work out minimized safe adsorption force and make topology optimization to the chassis to reduce unnecessary materials and decrease weight.Thirdly, this paper studies the influence of each parameters on the adsorption capacity through the finite element analysis of software Ansoft simulation analysis. Moreover,focusing on the requirement of light quality and high efficiency, it also optimizes the parameters of adsorption device and finds out the final optimizated result.Finally, the author builds a robot-control system and make a robot prototype to test each function of this mobile chassis. The test includes adsorption test, wall walking speed test,steering flexibility test and obstacle test. The thesis also study the motion performance of the robot after the test and validates the theoretical analysis in previous section and the accuracy of adsorption force simulation date to provide technical foundation and theoretical basis to the later improvement of flushing robot.