Kinematics Analysis And Structural Optimization Of Wind Power Tower Cleaning Machine

The supply of fossil energy is becoming increasingly tense,and the development and utilization of new energy has received unprecedented attention.Wind power has regained great attention as a renewable,non-polluting natural energy source.Wind turbines can be quickly applied,but they are bulky,transported and installed difficulties so that regular maintenance and cleaning are also inevitable problems.The wind turbine tower is conical and tubular,with a height of up to 90 meters,a maximum cross-sectional diameter of nearly 5 meters,a blade length of about 20 meters and an irregular shape.At present,whether it is a tower or a blade of a wind turbine,it is mainly used for manual cleaning.The efficiency of high-altitude is low,the labor intensity is high,and the safety of cleaning personnel are even more difficult to guarantee.The wall-climbing robot ushered in the turning of the wall cleaning industry and solved the technical problem of wall movement in wall cleaning.How to effectively combine the wall-climbing robot and the wind power tower cleaning work is one of the focuses of future research.In this paper,aiming at the cleaning of wind tower,combined with the technology of wall-climbing robot,a wind power tower cleaning machine was designed and developed,and the three-dimensional model was established to verify the correctness of the movement process and kinematics.Having a dynamic simulation of the wind tower cleaning machine simulates the actual cleaning conditions of the cleaning machine,determines its most dangerous working conditions,carries out finite element analysis,determines the structural safety of the cleaning machine,optimizes the structure of the excess strength parts,and achieves the purpose of weight reduction.The specific research contents are as follows:(1)The working principle and structural scheme of the washing machine.According to the current mainstream wind tower specifications and working environment,we can select the appropriate driving scheme,adsorb the walking scheme and cleaning scheme,and establish a three-dimensional model.We can use this model to verify the correctness of the working principle of the washing machine and analyze the working efficiency and economy of the washing machine.(2)Kinematics and kinetic analysis of the washing machine.The ADAMS software had been used to build a simulation model of the washing machine,add constraints.The upper and lower cleaning process is simulated and analyzed,and thepath of the centroid of the cleaning machine and the curve of the brush disk are obtained and the motion law is studied.At the same time,We have analyzed the force of the washing machine,simulated the force curve of the washing machine,determined the dangerous working conditions,and laid the foundation for the next analysis.(3)Adsorption stability analysis and finite element simulation of the washing machine.The paper has analyzed the force of each working stage of the washing machine,the instability and slippage of the washing machine in this stage,the cause,and summarized the stable adsorption conditions of the washing machine.The mechanical characteristics of the washing machine are analyzed,and the total stress map and the total deformation map of the main frame assembly and the roller supporting assembly are obtained,and it is verified whether the main frame and the roller supporting assembly can meet the working strength.(4)Size optimization and topology optimization of key parts of the washing machine.After the size of the roller support assembly is optimized,the quality is reduced by 0.57 kg compared with the optimization,and the weight loss is about 14%.After the topology optimization of the main frame,the quality is reduced from the original 50.42 kg to 44.18 kg,and the weight loss is about 12.4%.Finally,the weight reduction of the washing machine was completed under the premise of ensuring the strength.