| Wind energy is a new type of renewable energy that has developed in recent years and has gradually grown into the third largest source of electricity in China.As the country continues to accelerate the layout and development of the wind energy industry,the total installed capacity of wind turbines in China has reached 394 million kilowatts by the end of2022.Subsequently,the workload of wind farm operation,maintenance,inspection,and repair continues to increase,bringing enormous work pressure and safety challenges to on-site operation and maintenance personnel.According to incomplete statistics,a total of 39 major safety production responsibility accidents occurred nationwide from 2017 to 2022,resulting in significant casualties and economic losses.It is imperative to replace humans with machines to complete the operation and maintenance of wind farms with high safety risks and high labor intensity.Therefore,this article proposes a new type of quadruped telescopic wall climbing robot for wind power tower operation and maintenance,and the research content is as follows:(1)A new robot structure solution was proposed.A four-legged telescopic wall-climbing robot for wind turbine tower maintenance was proposed,taking into account the characteristics of the external surface of the wind turbine tower,and the mechanism and structure of the robot were designed.The robot could be used as a carrying platform for wind turbine external surface inspection and repair equipment,and had omnidirectional movement characteristics.(2)The kinematic and dynamical analysis of the robot was carried out.The degrees of freedom of the robot were analysed and the principle of motion of the robot in three different gait states was given;the geometric relationship between the turning angle and the extension of the steering mechanism and the leg lifting mechanism was derived;based on this,the robot mechanism simplification,kinematic analysis and dynamics simulation were carried out to verify the rationality of the robot structural scheme.(3)The analysis of the robot’s ultimate working conditions was completed.The forces on the robot under the two extreme conditions of imminent sliding and overturning on the outer wall of the wind turbine tower were analysed;the adsorption force to be provided by the robot under the corresponding extreme conditions was derived;the minimum thrust to be satisfied by the drive unit during leg lifting was derived;the static stability margin of the robot and the smoothness of the motion of the carrying platform under different conditions were analysed;the overall modal and structural component strength of the robot were analysed.(4)Completed the optimization of robot structure and size parameters.Topology optimization of key load-bearing structural parts and joint axis size optimization were carried out for the robot,and further strength verification was carried out for the optimization results,so that the lightweight level and working performance of the robot structure were improved on the premise of meeting the strength requirements. |
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