风电塔筒用变曲率自适应爬壁机器人运动特性分析与磁吸附模块优化  

Motion characteristics analysis and magnetic adsorption module optimization of variable curvature adaptive wall-climbing robot for wind power tower

作　　者：李享 李科 张明路[1] 高春艳[1] 李满宏[1] LI Xiang;LI Ke;ZHANG Minglu;GAO Chunyan;LI Manhong(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China;Taishan Nuclear Power Joint Venture Co.,Ltd.,Taishan 529228,China)

机构地区：[1]河北工业大学机械工程学院,天津300401 [2]台山核电合营有限公司,广东台山529228

出　　处：《工程设计学报》2025年第2期169-181,共13页Chinese Journal of Engineering Design

基　　金：中央引导地方科技发展资金资助项目(226Z1811G,62602010243);河北省高等学校科学技术研究项目(JZX2023015)。

摘　　要：针对传统爬壁机器人无法自适应风电塔筒变曲率壁面的问题,以轮式移动机构的快速稳定性和转弯灵活性为出发点,分析了轮式移动机构在变曲率壁面上运动时的姿态变化,并以此为基础设计了一种采用分体轮式移动和间隙式永磁吸附技术的新型爬壁机器人。首先,建立了多状态下的爬壁机器人运动模型,分析了机器人利用自身分体结构的姿态调整实现在变曲率壁面上移动时的自适应运动特性;然后,对爬壁机器人的磁吸附模块进行了优化,通过参数化分析得到了高吸附效率下的最优结构参数。实验结果表明,新型爬壁机器人结构设计合理,能够实现在变曲率壁面上的自适应可靠运动。所设计的爬壁机器人可为风电塔筒的维护作业提供高效、安全的解决方案,具有重要的工程应用价值。Aiming at the problem that traditional wall-climbing robots cannot adapt to the variable curvature wall of wind power towers,taking the fast stability and turning flexibility of the wheeled mobile mechanism as the starting point,the attitude change of the wheeled mobile mechanism moving on the variable curvature wall was analyzed,and on this basis,a new wall-climbing robot adopting split wheeled movement and gap permanent magnetic adsorption technology was designed.Firstly,a multi-state motion model for the wall-climbing robot was established,and the adaptive motion characteristics of the robot moving on the variable curvature wall by using the attitude adjustment of its own split structure were analyzed.Then,the magnetic adsorption module of the wall-climbing robot was optimized,and the optimal structural parameters under high adsorption efficiency were obtained through parametric analysis.The experiment results showed that the structural design of the new wall-climbing robot was reasonable,and it could realize the adaptive and reliable motion on the variable curvature wall.The designed wall-climbing robot can provide an efficient and safe solution for the maintenance of wind power towers,which has important engineering application value.

关 键 词：爬壁机器人 变曲率自适应 姿态调整 分体轮式移动 永磁吸附 

分 类 号：TH122[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]