风电塔筒检测爬壁机器人设计与安全性分析

针对风电塔筒垂直壁面作业任务的需求,根据塔筒的直径变化范围研制了一个能够自适应塔筒曲面曲率变化的爬壁器人。并对机器人进行静态与动态安全性分析,根据实际塔筒壁面倾角建立任意位姿的空间模型,分析了爬壁机器人失稳的因素及其产生的原因。通过仿真分析得到爬壁机器人的主导失稳形式以及机器人安全吸附时的最小许用吸附力。分析了机器人静态安全吸附与重力和壁面倾角以及位姿角存在的关系,以及动态安全吸附与重心位置高度、摩擦系数、几何尺寸之间的关系,结果表明:纵向翻转式影响机器人安全性的最重要因素,适当地降低机器人的重心高度更有利于保证机器人的稳定性,对样机进行性能测试试验,证明机器人能够在风电塔筒壁面上安全稳定的运行。

Analysis of Safety and Stability of Wall-climbing Robot

Aiming at the demand of the vertical wall surface task of the wind power tower, a wall climber capable of adapting the curvature change of the tower surface was developed according to the diameter variation range of the tower. The static and dynamic safety analysis of the robot was carried out. The spatial model of arbitrary pose was established according to the actual inclination angle of the tower wall. The factors of the instability of the wall-climbing robot and the causes were analyzed. Through the simulation analysis, the dominant instability form of the wall-climbing robot and the minimum allowable adsorption force when the robot is safely adsorbed were obtained. The relationship between static safety adsorption and gravity and wall inclination and attitude angle was analyzed, and the relationship between dynamic safety adsorption and height of gravity center, friction coefficient and geometric size was analyzed. The results show that vertical flipping affects the safety of robots. Appropriate reduction of the height of the center of gravity of the robot is more conducive to the stability of the robot, performance testing of the prototype, to prove that the robot can operate safely and stably on the wall of the wind turbine tower.