| 小型风电塔筒检测机器人设计与运动性能分析 |
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| 引用本文： | 卢盛欣,孟雷,于力强,侯元柏,吴伟强,贾超,孙凌宇. 小型风电塔筒检测机器人设计与运动性能分析[J]. 机床与液压, 2021, 49(21): 43-49 |
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| 作者姓名： | 卢盛欣 孟雷 于力强 侯元柏 吴伟强 贾超 孙凌宇 |
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| 作者单位： | 河北建投海上风电有限公司,河北唐山063000;河北工业大学,天津300401 |
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| 摘 要： | 介绍一种小型爬壁机器人，用于风电塔筒的检测，以实现难以人工检测的风电塔筒的快速检测。对机器人的整体结构进行了设计，对机器人的吸附结构进行了计算和仿真。对机器人进行动力学分析，验证驱动力矩的计算结果。对机器人进行动力学仿真，确定驱动机构输出转矩的平稳性。通过实验验证了机器人能够在塔筒表面安全稳定地运行。
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| 关 键 词： | 爬壁机器人 驱动机构 动力学分析 |
Design and Motion Performance Analysis of Small Wind Power Tower Detection Robot |
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| LU Shengxin,MENG Lei,YU Liqiang,HOU Yuanbai,WU Weiqiang,JIA Chao,SUN Lingyu. Design and Motion Performance Analysis of Small Wind Power Tower Detection Robot[J]. Machine Tool & Hydraulics, 2021, 49(21): 43-49 |
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| Authors: | LU Shengxin MENG Lei YU Liqiang HOU Yuanbai WU Weiqiang JIA Chao SUN Lingyu |
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| Abstract: | A small wall climbing robot was introduced, which was used for the detection of wind power tower, especially for the fast detection of wind power tower which was difficult to detect manually.The overall structure of the robot was designed. The adsorption structure of the robot was calculated and simulated. The dynamic analysis of the robot was carried out to verify the calculation results of driving torque. The dynamics simulation of the robot was carried out to determine the stability of the output torque of the driving mechanism. The experimental results show that the robot can run safely and stably on the tower surface. |
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| Keywords: | Wall climbing robot Driving mechanic Dynamic analysis |
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