摘要
风能是目前最有发展前景的清洁能源之一,然而在极端条件下风电塔筒容易发生腐蚀、生锈,目前主要依靠人工进行周期性的高空悬挂喷涂维护。因此,设计一种具有强吸附力、大曲率、运动灵活的永磁式自动化喷涂爬壁机器人替代人工作业,通过研究塔筒上的工况条件,分别对吸附、行走、驱动、喷涂等机构进行分析,提出了永磁吸附、轮式行走、直流伺服驱动、高压无气喷涂的爬壁机器人方案。针对初步设计的爬壁机器人模型,进行了力学计算,分析了倾覆临界状态,优化了爬壁机器人结构。通过单因素法研究喷涂速度对漆膜厚度的影响,调整了喷涂参数,选择了合适的喷涂速度。结果表明:初步设计的爬壁机器人喷涂产生的漆膜厚度均匀,且厚度满足风电塔筒喷涂要求。
Wind energy is one of the most promising clean energy at present.However,wind power tower is prone to corrosion and rust under extreme conditions.At present,it mainly relies on manual periodic high-altitude suspension spraying maintenance.Therefore,a permanent magnet automatic spraying wall-climbing robot with strong adsorption force,large curvature and flexible movement is designed to replace manual operation.By studying the working conditions on the tower,the adsorption,walking,driving,spraying and other mechanisms are analyzed respectively.A wall-climbing robot scheme of permanent magnet adsorption,wheeled walking,DC servo drive and high-pressure airless spraying is proposed.For the preliminarily designed wall climbing robot model,mechanical calculations is conducted,the critical state of overturning is analyzed,and the structure of the wall climbing robot is optimized.The effect of spraying speed on paint film thickness is studied through a single factor method,the spraying parameters are adjusted,and an appropriate spraying speed is selected.The results show that the thickness of the paint film produced by the preliminary design of the wall climbing robot is uniform,and the thickness meets the requirements of wind power tower spraying.
作者
沈顺喜
涂德贵
陈立志
Shen Shunxi;Tu Degui;Chen Lizhi(Fujian Yongyue Intelligent Technology Co.,Ltd.,Fuzhou 350001,China)
出处
《机电工程技术》
2024年第2期168-172,207,共6页
Mechanical & Electrical Engineering Technology
关键词
爬壁机器人
永磁吸附
轮式行走
直流伺服驱动
高压无气喷涂
wall-climbing robot
permanent magnet adsorption
walkable wheels
DC servo
high-pressure airless spraying
