| Wind turbine towers are subject to complex working conditions and external environmental factors during processing and manufacturing,pre-fabrication and assembly and use,and are prone to fatigue damage,paint damage and oil stains,requiring damage detection,surface repair and stain cleaning.Traditionally,workers are lifted to a specified height and position by means of the crane,and inspection and repair work is carried out manually,posing many safety risks.In order to solve these problems,this paper designs a wall climbing robot for the wind turbine tower external surface inspection and maintenance,and conducts kinematic analysis,dynamics analysis and control technology research on the robot.(1)The overall structure of a rigid-flexible multi-module combination wall-climbing robot was designed,the composition and scalability of the robot modules were analysed,and the structural characteristics of the rigid unit of the robot were given,considering the mobile efficiency and structural lightness of the wind turbine tower climbing robot.(2)The characteristics of the wind turbine tower wall climbing robot were analysed from the perspectives of force,motion and error,the load characteristics of the motion module,the load characteristics of the whole machine,the motion error analysis and the posture error analysis of the robot in the wind turbine tower environment were completed,and the motion and posture error compensation methods were proposed in conjunction with the robot state and working environment.(3)The kinematic models and dynamics models of the wind turbine tower wall climbing robot were established,and the kinematic analysis and dynamics analysis of the robot were carried out in the simulation environment to obtain the robot operation state parameters and ensure the robot’s smooth motion and structural reliability on the surface of the wind turbine tower.(4)According to the structural characteristics of the wind turbine tower wall climbing robot,the robot motion control principle was studied,the robot motion control scheme was given,the robot simulation control model was established,and the robot motion control program and motion control extension platform were prepared in the simulation environment.The simulation results showed that the wall climbing robot designed in this paper met the structural requirements,motion requirements and working requirements of the wind turbine tower wall environment,and the control logic could meet the motion control requirements of the robot in the wind turbine tower environment. |
