摘要
针对风力发电机叶片检测难度大及传统机器人检测效果不佳的问题,设计了一种基于足履式移动和复合式吸附的风机叶片检测机器人。首先,对机器人在叶片表面移动时的力学特性进行建模,计算其无滑移和倾覆时所需的吸附力,并根据计算结果进行设备元件的选型;其次,根据机器人结构特性,设计相应的控制系统,并对其在叶片表面的移动步态进行规划与分析;最后,通过实验验证了机器人设计方案的有效性。实验结果表明,该机器人具备灵活的移动能力和良好的吸附性能,能够满足风机叶片检测的实际需求。研究结果促进了机器人在风机叶片检测中的实际应用,还为相关领域自动化检查技术的进步和推广提供了参考。
Aiming at the difficulty of wind-generator set blade inspection and the poor effect of traditional robot inspection,a wind-generator set blade inspection robot based on legged-and-tracked movement and hybrid adsorption was designed.Firstly,the mechanical characteristics of the robot moving on the blade surface were modeled,the required adsorption forces were calculated under the conditions of slip-free and overturning-free motion,and the equipment components were selected according to the calculation results.Secondly,according to the robots structural characteristics,the corresponding control system was designed,and its moving gaits on the blade surface were planned and analyzed.Finally,the experiments were conducted to verify the effectiveness of the robot design scheme.The experimental results demonstrated that the robot had flexible moving ability and good adsorption performance,which could meet the actual demand of blade inspection.The research results not only promote the practical application of the robot in wind-generator set blade inspection,but also provide a reference for the progress and popularization of automatic inspection technology in related fields.
作者
张岩
胡晓林
王凯铭
黄华
ZHANG Yan;HU Xiaolin;WANG Kaiming;HUANG Hua(Gansu Province Special Equipment Inspection and Testing Institute,Lanzhou 730050,China;School of Mechanical and Electrical Engineering,Lanzhou University of Technology,Lanzhou 730050,China)
出处
《工程设计学报》
北大核心
2025年第2期159-168,共10页
Chinese Journal of Engineering Design
基金
甘肃省市场监督管理局科技计划项目(SSCJG-TS-A202203)
甘肃省特种设备检验检测研究院重点研发项目(T202102)。
关键词
足履式移动
复合吸附
叶片检测机器人
气压驱动
legged-and-tracked movement
composite adhesion
blade inspection robot
pneumatic actuation
作者简介
张岩(1982-),男,高级工程师,硕士,从事风力发电机叶片故障诊断研究,E-mail:79144469@qq.com;通信联系人:黄华(1978-),男,教授,博士,从事风力发电机叶片检测、机器视觉、特种机器人等研究,E-mail:hh318872@126.com,https://orcid.org/0000-0002-4945-5888。
