Design And Research On Cleaning Robot Of Wind Turbine Tower

In modern society, wall-climbing robots, with the capability of climbing upvertical walls and completing utmost operation, have been widely used in variousindustries. Wall-climbing robots with magnetic crawlers have advantages ofsimple structure，high reliability，and strong adaptability to wall surfaces, thus theyare widely used in the cleaning and maintenance work in the shipbuilding,petrochemical and other industries. While those available now have deficiencies inaspects of adaptation, flexibility and controllability of adsorption force. In view ofthe existing deficiency, this paper presents a new type of wall-climbing robot withpermanent magnetic adsorption tracked crawlers whose adsorption force areadjustable, and tries to apply it to the cleaning work of wind turbine towers.First of all, on the basis of full acquaintance with the technology traits ofwall-climbing robot, combined with those of the cleaning work of wind turbinetowers, this paper conducts the analysis of the advantages and disadvantages ofdifferent structure schemes, and presents a feasible one. Through the force analysisto the robot under different motion state, this paper study the possible instabilityforms under gravity, and eventually come to the stable adsorption conditions of therobot. Carrying on steering motion analysis, this paper studies the relationshipbetween the moving speed of the robot and the speed of the drive sprocket.Thenthe structural design of the robot is completed.Secondly, this paper designs a new type of permanent magnetic device withexcellent adhesive ability, whose adsorption force is adjustable. On the basis of thestatic magnetic field distribution, with the electromagnetic analysis softwareAnsoft, this paper studies the magnetic field of the adsorption unit, and theinfluence of the factors to the adhesive force for the purpose of structureoptimization.Lastly, based on the simplification of the motion model, dynamics simulationof the virtual prototype of the robot with Adams is carried out, to verify therationality of the design.