Design And Simulation Of Climbing Robot For Wind Power Tower Maintenance

With the increase of wind power station,the amount of maintenance work for wind turbines is also increasing.The traditional way of wind power tower climbing is mainly carried out by manual climbing,aid climbing implements and elevators,but it is only applicable for tower-type towers.In the maintenance of truss-type towers,large aerial work trucks are usually rented,which is costly and inefficient.Therefore,domestic and foreign researchers have conducted numerous studies on truss-structure tower climbing robots.However,most of the robot with poor load capacity,also can not meet the actual needs of the working condition.In order to solve this problem,based on the modular wind power tower designed by the research group,this dissertation proposes a kind of robot with good load capacity and compact structure.At the same time,the optimization design of the robot is studied.This dissertation provides technical reference for improving the maintainability of truss-type towers.During the installation and maintenance of the modular wind power tower,the climbing robot should play the role of movers and should have a good load capacity.For the convenience of outdoor operations,the climbing robot should also be compact and easy to transport.Therefore,based on the theory of robot design,this dissertation proposes a design scheme for the track-type mechanical clamping climbing robot.Through comparison and analysis of three different types of scissor structure,such as,vertical fixed,horizontal fixed and articulated fixed.The configuration of shear fork climbing mechanism is proposed.And the elastic support arm with symmetrical structure is designed.The climbing strategy of the robot is also established.In order to reduce the power consumption and improve the stability of the robot.In this dissertation,kinematic and mechanical models of the scissor type climbing mechanism are established.And the main factors affecting the velocity of the carrier and the force of the hydraulic cylinder are analyzed.By using ADAMS parametric modeling,the dynamic characteristics of shear fork climbing mechanism are analyzed.The influence rule of key structural parameters on the force of the hydraulic cylinder is obtained,and the key parameters are also optimized.The strength of the shear arm structure determined by the optimized parameters is checked.Based on the structure,the hydraulic system is designed.The mathematical model of the synchronous hydraulic cylinder and servo valve system is established,and the stability analysis is carried out.The mechanical model and hydraulic system model of the shear structure are established through AMESim.And machine-hydraulic joint simulation is performed.The synchronous performance of two synchronous hydraulic cylinders is analyzed when the load of the robot container is uneven.In addition,PLC was used to design manual and semi-automatic robot working modes,and the control methods to avoid robot crash were analyzed.The Human Machine Interface was developed and simulated with a PLC control program based on PID closed-loop control,which verified the reliability of the control system.