| With the proposal of the national policy of the maritime Silk Road,the development of offshore wind power has gradually developed into a strategic emerging industry in China,which also makes the demand for the detection and maintenance of related equipment increasing day by day.Due to the special environment of offshore wind power equipment,the traditional manual detection method has huge security risks,so it is urgent to develop an integrated detection robot system for offshore wind power tower pile.For the wind power tower pile detection robot,how to complete the detection task with high reliability and high quality in the complex underwater environment is the absolute core problem,which makes the adsorption performance of the detection robot become particularly important.Taking the offshore wind power tower pile detection robot as the research object,this paper carries out the structure design,hydrodynamic resistance flow field analysis and stable adsorption force research of the offshore wind power tower pile detection robot,and discusses in detail the optimization design of magnetic circuit structure of the magnetic adsorption module and the experimental verification of the whole robot,It provides a theoretical basis for the structure design of offshore wind power tower pile detection robot and the development and application of its adsorption performance.According to the actual testing requirements and the specific task index requirements of the project,a non-contact variable magnetic permanent magnet adsorption wheel type wind power tower pile detection robot is designed.The main mechanism of robot,such as adsorption mechanism,mobile mechanism,main frame and detection platform,is selected and designed in detail.The flow field analysis and the steady adsorption force analysis of the pile detection robot of offshore wind power tower are carried out.The simulation model of robot flow field analysis is established.According to the basic structure,flow velocity and direction of robot and tower pile,the corresponding hydrodynamic model is established to analyze the force of the robot hydrodynamic resistance.The static and dynamic mechanical mathematical models of robot are established to solve the minimum adsorption force of the robot under the limit conditions.According to the optimization objectives of minimum safe adsorption force and maximum magnetic energy density,the permanent magnet adsorption module on variable magnetic mechanism is optimized.The simulation model of magnetic field is established by using finite element method.Through the comparison and analysis of the structure of Halbach magnetic circuit and traditional magnetic yoke type magnetic circuit,the better magnetic adsorption performance of Halbach magnetic circuit is obtained.The influence of yoke and space layout on the magnetic adsorption performance of Halbach permanent magnet adsorption unit is analyzed.The improved gray wolf optimization algorithm was used to optimize the design of the magnetic adsorption unit,and the optimal structure size parameters were obtained.The robot prototype is made and the control system is built,which provides the basis for the software and hardware implementation of the experimental research.According to this,the pressure seal test,magnetic adsorption force test,magnetic field interference experiment and the whole machine adsorption reliability experiment are carried out.The correctness of the simulation analysis and optimization results is verified by comparing the experimental results with the simulation results,the effectiveness and feasibility of the robot adsorption performance are further verified. |
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