Design And Research Of Wind Power Tower Tube Cleaning Robot

At present,the domestic and foreign high-altitude wall cleaning operation is basically based on manual,wall climbing robot as the key technology of wall cleaning,has a great advantage in improving efficiency and other aspects.In this paper,combining with the cleaning process of the tower cylinder,a wall-climbing robot was proposed to solve the problems of surface adaptation and motion flexibility existing in the existing wall-climbing schemes,and the key technologies such as the walking mechanism,mechanical characteristics,adsorption performance and control system of the robot was studied.First,according to wall adaptability problem,to carry on the designed of walking mechanism,this paper proposed a wall adaptive ability of magnetic adsorption climbing robot,in view of the stable adsorption and obstacle problems,three failure modes of the robot dynamics model was established,the adsorption force and critical safety driving moment,and complete the motor selection;Aimed at the problem of obstacle crossing,two kinds of mechanical models of obstacle crossing were established,the main influencing factors of the vertical obstacle crossing were studied,and the theoretical height of obstacle crossing was given through MATLAB numerical simulation.Secondly,the pose deviation equation and the system dynamics equation were established to meet the requirements of tracking the desired path.Used Backstepping ideas,designed the speed control based on the motion differential equations,then by the system dynamics model,took PI sliding mode switching function,by reference state equation of constant speed reaching law,designed the sliding mode controller,used the lyapunov stability theory to prove the convergence of the control system,combined with the Simulink simulation results,showed that the stability of the control scheme.In addition,aimed at the contradiction between the adsorption force and the gravity of the magnetic unit,the magnetic energy utilization rate was introduced,and the Maxwell simulation model was established to analyze the influence rule of the structural parameters of the adsorption device on the magnetic energy utilization rate.Finally,the reasonable structural parameters were given,and the consistency between the simulation and the actual adsorption force was verified through comparative experiments.Finally,the control system and the overall prototype were built.In order to verify the effectiveness and feasibility of the prototype walking and working on the wall,experiments on wall walking,turning,obstacle crossing,and load were carried out.