Structure Design And Analysis Of Wall-climbing Robot For Wind Tower Detection

As a clean energy device,wind power generation is very important for the maintenance of its wind tower.However,the wind tower on land is subject to wind and sand friction in the field for a long time,and the old coating will be produced on the surface,which may affect the beauty of the tower.The offshore wind tower will also be corroded by salt and alkali of seawater for a long time,which is serious endanger the safety of the wind tower.The wall-climbing robot can realize fast and stable crawling on the wall surface of the wind power tower,install the corresponding detection and maintenance equipment,and replace the manual operation.The wall-climbing robot is used on the wind power tower,which reduces the maintenance cost of the wind power tower,increase the safety performance,and increase the detection efficiency.According to the research status of wall-climbing robot at home and abroad,and combined with the actual working conditions of wind tower wall,a robot suitable for wall-climbing detection of wind tower is designed.This thesis mainly does the following research:First of all,the technical scheme of wall-climbing robots is analyzed and the technical difficulties in practical application are analyzed.The walking scheme,adsorption scheme,driving scheme and detection scheme of the wall-climbing robot facing the wind tower are analyzed and compared.Considering that there will be strong wind and dust interference in the working environment of the wind tower wall,the wall-climbing robot is required to have stable and reliable functions,and the crawler walking structure and permanent magnet adsorption structure are designed,permanent magnet adsorption unit can provide reliable and stable adsorption force for wall-climbing robot,and solve the stability and reliability of wall-climbing robot working on curved surface.Secondly,in view of the rapidity of climbing the wall in the wind tower,the driving system of the climbing machine is designed,which is driven by double motors,so that the robot can move flexibly.The 3D model of wall-climbing robot is built by Solid Works software.The mathematical model is established,and the static properties analysis of the climbing robot is carried out,which improves the basis for the design of magnetic adsorption force.The dynamic analysis and Simulation of the climbing robot are carried out by using ADAMS software,and the movement performance of the robot is verified.Thirdly,for the stability of the wind tower,several kinds of magnetic adsorption structures are compared and the finite element fitting analysis is carried out.Finally,a kind of permanent magnetic adsorption structure with strong adsorption capacity is adopted,and the mechanical model of adsorption magnetic field is established.The influence of each parameter of magnetic circuit on the adsorption force is studied.The finite element analysis software Ansoft is used to simulate and analyze the permanent magnet adsorption structure.The optimal parameters of the magnetic adsorption structure are selected to determine the final adsorption structure of the climbing robot.Finally,the prototype of the wall-climbing robot is built,and various tested.Through the tests,the performances of the wall-climbing robot is verified,which meets the requirements of stable crawling on the wall surface of the wind power tower.