| In recent years,with the rapid development of the wind power industry,the number of wind turbines has increased significantly.As one of the important components of the wind turbine,the oil and sand mixture is formed easily on the wall of the wind turbine tower due to long-time working in harsh environments such as wind and sand,and the pollutants will corrode the paint protective layer on the surface of the wind turbine tower,and this will result in defects such as pits and cracks on the wall.In serious cases,the wind turbine tower will be broken and other safety accidents will occur,so the wind turbine tower needs cleaning and maintenance regularly.The existing manual cleaning methods are not only inefficient,but also highly dangerous for workers to work at heights.Therefore,it is imperative to develop a wall climbing cleaning robot for wind turbine tower to carry out automatic cleaning on the wall surface of wind turbine tower.Cleaning with the robot can not only improve the cleaning efficiency and safety,but also greatly reduce the operation and maintenance costs.Based on the actual application environment of the wall-climbing cleaning robot for the wind turbine tower and the research status of the wall-climbing cleaning robot at home and abroad,a Mecanum crawler type omnidirectional wall-climbing cleaning robot is designed in this thesis.The main research contents are as follows:(1)The scheme is proposed and the 3D model is established.Combined with the structure of the wind turbine tower and the functional requirements of the wallclimbing cleaning robot,the advantages and disadvantages of the robot’s adsorption mode,walking mechanism,articulated mode and cleaning mode are analyzed,and the overall design scheme of the Mecanum wall-climbing cleaning robot with adjustable magnetic adsorption force that could achieve omni-directional movement on the wall of the wind power tower is proposed.The cleaning device and other modules are designed and the 3D model of this robot is built with the 3D modeling software Solidworks.(2)The mechanics and kinematics of the wall-climbing robot are analyzed.Firstly,the mechanical model of the wall-climbing robot adsorbed on the wall of the wind turbine tower is established,and the possible failure forms of the wall-climbing robot are analyzed,and the minimum safe magnetic adsorption force for the wall-climbing robot to move smoothly on the wall of the wind tower is obtained;Then the omnidirectional movement principle and kinematics of the wall-climbing robot are analyzed,and the relationship between the angular velocity of the driving motor and the speed of the wall-climbing robot is obtained.(3)Structure design and motion simulation analysis of magnetic adsorption unit is finished.According to the characteristics of Halbach permanent magnet array,a magnetic adsorption unit structure with adjustable magnetic adsorption force suitable for Mecanum track is designed.First,the magnetic adsorption force adjustment device and principle is introduced,and then the magnetic adsorption unit is optimized and analyzed by using Ansoft Maxwell software.The relationship between the structure size of the magnetic adsorption unit and the magnetic adsorption gap on the magnetic adsorption characteristics is obtained,and the optimal structure size of the magnetic adsorption unit is determined.The process of the magnetic adsorption unit separating from the wall of the wind tower is simulated and analyzed by using ADAMS software.And the magnetic adsorption force change curve,the torque change curve of the drive motor and the power consumption curve of the drive motor are obtained.The simulation results verify that the wall-climbing robot using the Mecanum type Halbach magnetic adsorption unit has higher mobility.(4)The moving process of the Mecanum tracked omnidirectional wall-climbing robot is simulated and analyzed.Based on the 3D model of the Mecanum crawler omnidirectional wall-climbing robot,a virtual simulation prototype is established to simulate and analyze the omnidirectional movement process of the robot on the wall of the wind turbine tower.The simulation results verify that the Mecanum crawler omnidirectional wall-climbing robot could stably complete up and down,left and right movements on the wall of the wind tower,by jointly controlling the steering and rotation speed of each Mecanum crawler.(5)The control system of the wall-climbing robot for wind power tower is preliminarily designed.Combined with the functions of the wall-climbing cleaning robot of the wind turbine tower,the overall scheme of the robot control system is proposed.STM32F103C8T6 single chip computer is selected as the main controller of the robot control system,and the drive motor control module and battery module are designed too,the design of robot control system is completed. |
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