针对风电机维护任务的爬壁机器人设计与研究

针对风力发电机检测和维护工作的日益增多,为避免工人高危作业,设计出了一种新型风力发电机检测和维护任务的爬壁机器人。分析了该机器人对风力发电机进行检测和维护工作的实际意义;提出了该机器人的设计技术指标和技术路线,并对机器人的基本功能方案做了重点分析,确定出了机器人的机械本体结构,为防止吸附失效,建立了机器人克服沿壁面脱落、倾覆及吸盘泄漏等几种危险状态下的力学模型,并进行MATLAB仿真分析,确定出了临界吸附力,为机器人吸附装置的吸附力的确定提供参考依据。

Research on Design of Wall Climbing Robot on Wind Turbine to Maintain

With the increase of detection and maintenance work in the wind turbine, in order to reduce the labor intensity of workers, a new type of wall climbing robot on the wind turbine is designed for detection and maintenance tasks. The practical significance of wall climbing robot on the wind turbine to detect and maintain was analyzed, the design of technical index and route were made, and the basic function scheme was analyzed mainly. Finally, the structure of basic machine of robot was designed. In order to avoid losing efficacy of adsorption, the robot mechanical models in some dangerous situation at the wind turbine were established, such as slipping, overturn and the leaked suction cups. The result is simulated analysis with MATLAB, identified the security adsorption of critical adsorption. So that it can provide the basis for the determination of adsorption force of the suction cups of robots.