Wall-climbing Robot Mechanism Design And Mechanics Property Study Based On Testing Of Wind Power Tower

In recent years,with the rapid development of wind power industry,the demand for maintenance of wind turbine towers is becoming more and more urgent.Wind power tower wall has been eroded by wind and sand for a long time,and there will be cracks,corrosion,failure and welding defects on its surface.Therefore,it is necessary to regularly inspect and maintain the wall of wind power tower to ensure its safety.Manual testing and maintenance are carried out by means of tower cranes.However,this testing method has high risk factor,large construction volume and low testing efficiency.Therefore,it is urgent to develop a testing robot instead of manual testing.In this paper,through consulting a large number of documents,the structure of wall-climbing robot at home and abroad is analyzed,and concerning the actual working conditions,a testing wall-climbing robot suitable for wind tower wall is designed.The main research contents of this paper are as follows:1.According to the testing task and working condition analysis of the tower wall,the robot should have the ability of adsorption,the ability of self-adapting wall and the ability of obstacle surmounting.Therefore,the self-adapting structure of the surface,the adsorption structure and the driving structure of the robot are designed.Concerning the requirement of wall nondestructive testing,the testing structure is designed,thus the whole structure design of the testing wall-climbing robot is completed.2.Through the structure analysis and magnetic circuit design of the magnetic adsorption device,the design of the magnetic adsorption structure is completed.Based on the relationship between the reliable adsorption force of the robot and the magnetic adsorption unit,the theoretical model of magnetic field is established.According to the requirement of magnetic adsorption structure lightweight,the parameters of magnetic adsorption structure are simulated and optimized by Ansoft Maxwell,which makes the magnetic adsorption structure lightweight and the magnetic force as large as possible,so as to improve the utilization rate of magnetic energy.3.Based on the kinematic model of wall-climbing robot,the kinematic characteristics of the robot are analyzed to obtain the kinematic equation of the centroid of the robot,which provides a basis for differential steering of the robot.Based on the requirement of robot driving stability,the linear and turning dynamics models of the robot are established,and the dynamic analysis and simulation are carried out respectively to obtain the torque required for the robot running,which provides a basis for the selection of robot driving elements.4.Finally,the whole model of the crawler wall-climbing robot is manufactured,and the motion characteristics and testing functions of the robot are studied and tested.The rationality of the design of the mechanical structure,magnetic adsorption structure and surface adaptive structure of the wall-climbing robot and the reliability of the testing function are verified.Finally,the robot system is assembled and debugged,and the motion characteristics and testing functions of the robot are studied and tested.The rationality of the design of the mechanical structure,magnetic adsorption structure and surface adaptive structure of the wall-climbing robot and the reliability of the testing function are verified.