| As a clean and safe form of power generation,wind power generation has been paid more and more attention by governments and investment institutions.As one of the important components of wind turbine,wind turbine blades are prone to defects and damage due to the influence of production technology and environment.At present,due to the irregular inner wall mechanism of wind turbine blades,the detection technology for the inner wall of wind turbine blades is not mature enough.It has not only high labor intensity,low efficiency,poor safety,but also extremely limited detection range.Therefore,it is imperative to design an automatic detection device for the inner wall of wind turbine blades.The research and design of wind turbine blade endoscope detection robot is the main part of the wind turbine blade inner wall automatic detection equipment.Through carrying detection equipment,robot can achieve the detection of the wind turbine blade inner wall.Firstly,according to the structure characteristics of wind turbine blades and the relevant theoretical knowledge of non-destructive testing technology,the composition and characteristics of the existing wind turbine blade detection methods are analyzed.In view of the deficiencies of the existing wind turbine blade detection equipment in the scope of adaptation and automation,a new type of wind turbine blade endoscope detection robot with variable diameter support mechanism and portable detection equipment is proposed,which can be applied to wind turbine blade inner wall during operation.According to the overall plan,the detailed design of each part has been completed,including the design of walking mechanism,variable diameter mechanism,support structure and so on.Solidworks modeling software is used to complete the overall model design of wind turbine blade endoscope detection robot.The structure,working principle and working process of each part of the mechanism are introduced respectively.The feasibility of the robot is preliminarily proved,which lays a foundation for further theoretical research.Then,through the kinematics analysis of the robot mechanism for wind turbine blade endoscopy inspection,the kinematics model of the variable diameter mechanism in the inner pipe of the wind turbine blade and the kinematics model of the walking mechanism walking on the web plane are obtained.At the same time,the variable diameter action of the variable diameter mechanism and the steering process of the walking mechanism are analyzed,and its variable diameter performance,steering performance and steering speed are studied.Ratio and the workspace can be reached.Based on the established kinematics model,the static characteristics of the wind turbine blade endoscope detection robot are further studied.In order to ensure the stability of the robot,the mechanical characteristics of the robot such as traction and support force are studied,and the changes of the support force of the wind turbine blade in different positions and postures after pitch and circumferential motion are analyzed.Finally,the dynamic model of the wind turbine blade endoscope detection robot is established,and the dynamic equation of the robot is determined.The virtual prototype is simulated by Adams dynamic simulation software.The force acting on the supporting mechanism and the motion of the driving wheel are analyzed parameterized when the wind turbine blade endoscope detection robot can guarantee enough load capacity.The influence of the pitch and circumferential motion of the wind turbine blade on the inner wall of the wind turbine blade is analyzed and compared with the theoretical results.By comparison,the simulation results verify the reliability of the theoretical conclusions,which lays a foundation for further research of wind turbine blade endoscope detection robot. |
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