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工程设计学报
Chinese Journal of Engineering Design  2025, Vol. 32 Issue (2): 159-168    DOI: 10.3785/j.issn.1006-754X.2025.04.165
Robotic and Mechanism Design     
Design and analysis of wind-generator set blade inspection robot
Yan ZHANG1(),Xiaolin HU2,Kaiming WANG2,Hua HUANG2()
1.Gansu Province Special Equipment Inspection and Testing Institute, Lanzhou 730050, China
2.School of Mechanical and Electrical Engineering, Lanzhou University of Technology, Lanzhou 730050, China
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Abstract  

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 robot's 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.

Key words： legged-and-tracked movement      composite adhesion      blade inspection robot      pneumatic actuation     
Received: 22 August 2024      Published: 06 May 2025
CLC:  TP 242  
Corresponding Authors: Hua HUANG     E-mail: 79144469@qq.com;hh318872@126.com
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Yan ZHANG
Xiaolin HU
Kaiming WANG
Hua HUANG
Cite this article:

Yan ZHANG,Xiaolin HU,Kaiming WANG,Hua HUANG. Design and analysis of wind-generator set blade inspection robot. Chinese Journal of Engineering Design, 2025, 32(2): 159-168.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2025.04.165     OR     https://www.zjujournals.com/gcsjxb/Y2025/V32/I2/159


风力发电机叶片检测机器人的设计与分析

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。


关键词： 足履式移动,  复合吸附,  叶片检测机器人,  气压驱动 
Fig.1 Structure of wind-generator set blade inspection robot
Fig.2 Structure of track mechanism
Fig.3 Schematic diagram of force on magnetic crawler track
符号含义
f单侧磁吸履带受到的摩擦力
Fn单侧磁吸履带受到的塔筒壁面的支持力
Fm单侧履带对塔筒壁面的吸附力
fi第i节履带受到的摩擦力
Fn, i第i节履带受到的塔筒壁面的支持力
Fm, i第i节履带对塔筒壁面的吸附力
Li第i节履带到第1节履带的直线距离
L履带下轴心a到上轴心b的距离
H质心c到塔筒壁面的垂直距离
Table 1 Force parameters of magnetic crawler track
Fig.4 Legged mobile mechanism
Fig.5 Schematic diagram of force on cylinder
Fig.6 Suction cup mechanism
Fig.7 Influence of wall inclination angle on adsorption force of suction cup
Fig.8 Structure of frame
Fig.9 Structure of control system
Fig.10 Schematic diagram of pneumatic control system
Fig.11 Schematic of cylinder driving principle
Fig.12 Schematic diagram of circuit control principle
Fig.13 Schematic of suction cup transition switching
Fig.14 X direction gait planning of robot
Fig.15 Y direction gait planning of robot
Fig.16 Adsorption force test of adsorption mechanism
Fig.17 Robot adhered to wall with inclination angle of 90°
Fig.18 Robot adhered to wooden surface with inclination angle of 60°
Fig.19 Adsorption mechanism adsorbed on curvature wall
Fig.20 Robot movement experiment
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