Design And Simulation Analysis Of Wind Power Tower Tube-wheeled Wall-climbing Robot

At present,my country’s wind turbine assembly machine has reached the world’s first,and will maintain a trend of rapid growth for a long time in the future.Following this is the problem of huge regular maintenance workload for wind turbines.At present,the maintenance of wind turbine towers in my country mainly adopts manual operations,which has problems such as high work intensity,long operation periods,and high safety risks.With the development of robotics,it has become an inevitable trend to use wall-climbing robots to replace manual operations.The wall-climbing robots currently used in the maintenance of wind power towers mainly adopt a permanent magnet crawler design,which has disadvantages such as large dead weight,uncontrollable adsorption force,and difficult steering.In view of the above problems,the research focus of this article is to reduce the weight of the wall-climbing robot an d improve its movement flexibility.This paper designs an omni-directional mobile wheeled wall-climbing robot based on permanent magnet adsorption.According to the research focus of the paper,an appropriate design scheme is selected to complete the three-dimensional design of the whole machine and the design of the adsorption device.rationality.The wall-climbing robot takes the wind turbine tower as its operating target.It has a dead weight of 20kg and a rated load of 30kg.It has a full range of mobility,can stably adsorb on the wall and move flexibly.It mainly solves the problems of crawler-type wall-climbing robots such as self-weight and low flexibility.The specific work is as follows:(1)Through the analysis of robot function requirements,choose permanent magnet adsorption,wheeled movement,motor drive,differential steering and other solutions.Completed the steering performance analysis,the drive motor selection calculation,and compared with other technical solutions,and finally established a three-dimensional model of the wheeled wall-climbing robot using three-dimensional design software.(2)Analyzed the force of the robot under the static and maximum wind force,obtained the stable adsorption conditions of the robot,and designed a new type of non-contact permanent magnet adsorption device using Ansoft software to ensure that the robot can be stable on the wall of the tower.Run,and finally use the rotary lifting device to adjust the size of the adsorption force,which solves the problem that the robot is difficult to peel off the wall.(3)Use ADAMS software to simulate the kinematics of the robot,add material properties,constraint relations and driving forces,set up linear and spiral climbing conditions,and analyze the robot’s displacement,speed,and speed under the two conditions.The force and torque verify the motion performance and stability of the robot.(4)Using the finite element analysis method to analyze the deformation and stress of the robot,it is verified that the strength of the key parts of the robot meets the design requirements,and the sixth-order mode shape and frequency of the robot are obtained,and the mode when the robot resonates is pointed out.State frequency.