摘要
针对风电塔筒检测维护作业存在高空危险、人工成本高与作业效率低等问题,设计研制了一款长续航磁吸附作业机器人。该机器人采用模块化设计思路,创新性地将永磁驱动结构与高效能源管理系统相结合,配备智能运动控制系统,可实现稳定吸附爬壁,攻克了长续航稳定作业等难题。试验研究表明,机器人单次续航时间达到8 h,永磁吸附力维持在2400 N,爬壁速度达0.5 m/s,转弯半径小于0.8 m,载重能力为4 kg。该机器人已在多个风电场开展实际应用测试,工况适应性强,检测维护作业效率提升80%,满足风电塔筒表面巡检维护需求,为后续智能化作业提供了新思路。
In response to the problems of high-altitude hazards,high labor costs,and low operational efficiency in wind turbine tower inspection and maintenance operations,a long-range magnetic adsorption operation robot has been designed and developed.The robot adopts a modular design concept,innovatively combines the permanent magnet drive structure with an efficient energy management system,and is equipped with an intelligent motion control system to achieve stable adsorption and wall climbing.Through in-depth research on mechanical structure design,permanent magnet system design,motion control scheme,and energy management strategy,the robot has overcome the difficulties of long-range stable operation.Experimental research shows that the robot has a single endurance time of 8 hours,a permanent magnet adsorption force of 2400 N,a wall climbing speed of 0.5 m/s,a turning radius of less than 0.8 m,and a load capacity of 4 kg,The robot has undergone practical application testing in multiple wind farms,with strong adaptability to working conditions and an 80%increase in detection and maintenance efficiency.It meets the needs of surface inspection and maintenance of wind turbine towers and provides new ideas for subsequent intelligent operations.
作者
张海林
边靖
周洋
刘磊
边晋发
ZHANG Hailin;BIAN Jing;ZHOU Yang;LIU Lei;BIAN Jinfa
出处
《电力系统装备》
2025年第6期66-68,共3页
Electric Power System Equipment
关键词
风电塔筒
磁吸附
作业机器人
长续航
性能测试
wind turbine tower
magnetic adsorption
homework robot
long battery life
performance testing
