Structure Design And Analysis Of Wind Power Tower Drum Cleaning Robot

Wind power as a kind of green environmental protection of clean energy,has been widely used around the world related area.Mature application of wind power technology in our country and the installation and usage of a large number of wind turbines,the tower drum cleaning and maintenance becomes heavy.Traditional manual cleaning,long cycle,high cost,poor cleaning effect,and the problem of safety in order to solve this problem,this paper combined with the working environment and function requirements,research designed electromagnetic adsorption hexapod mobile climbing wall and the combination of mechanical arm brush cleaning robot,security and stability in the conical column wall and efficient completion of wind power tower cylinder cleaning tasks.The research of tower drum cleaning robot has certain value and significance.First of all,through the research background and significance of the wind power tower drum cleaning robot,combined with the research situation on climbing robots at home and abroad,compared the implementation climb walls and clean function,analysis summarized in robot motion,adsorption,cleaning,power supply,etc.Combined with the operation conditions of the wind power tower,the design ideas of the wall climbing system and cleaning system for the wind power tower cleaning robot are proposed.Secondly,the mechanism and function of the wind power tower drum cleaning robot are analyzed.According to the requirements of the climbing robot adaptability,from the perspective of bionics and based on the functions and characteristics of the legs of the conical wall surface,the motion platform and the execution mechanism of the robot are designed with the SolidWorks 3d software.The static analysis,fatigue life analysis and optimization design of the key components are carried out by using the finite element analysis software.Walking robot gait planning is basis of its flexible and stable motion function,which determines its motion performance.The designed and planned three-legged gait and four-legged gait provide theoretical basis for its kinematics analysis and simulation analysis.Again,the kinematics of the designed mechanical leg of the wind power tower cylinder cleaning robot and the cleaning mechanical arm of the actuator are analyzed.The kinematics model of the leg and the mechanical arm is established by using the D-H coordinate system method.the leg and arm kinematics model is established,using the kinematics equation,known the angle of each legs and joint mechanical arm,and the spatial coordinates of the foot and the the mechanical arm are obtained.By using the inverse kinematics equation and the position coordinates of the foot and the mechanical arm,the rotation angles of each joint of the mechanical leg and the mechanical arm were solved,and the working space and safetystability of the foot end were analyzed and verified,which laid a good foundation for the subsequent kinematics simulation.Finally,kinematics simulation analysis is carried out on the gait of cleaning platform and cleaning robot arm of the wind power tower drum by using ADAMS software.The simulation experiment results show that the center of mass displacement of the body,the angular velocity,torque and kinetic energy curves of the heel joints,hip joints and knee joints of the legs and the three and four foot gait of the robot in the crawling process are obtained.The simulation results show that the robot has good movement stability,in the process of crawling motion platform has been proved the rationality of structure design and correctness.Through the simulation analysis of the mechanical arm,according to the displacement curve and simulation track of the disk brush,the cleaning space scope is intuitively understood,and the angular velocity and torque curves of the base joints,shoulder joints and elbow joints are obtained.It is verified that the mechanical arm has the foundation of cleaning,and can provide support for the cleaning operation of the wind power tower cylinder cleaning robot in the process of movement.