Analysis of adsorption structure for wall climbing robots in wind power tower
                                                               HOU Jiarui1, WAN Yi1, SUN Lixin2
(1.Key Laboratory of HighEfficiency and Clean Mechanical Manufacture, Ministry of Education, School of Mechanical Engineering, Shandong University, Jinan 250061, China; 2.School of Mechanical Engineering, Hebei University of Technology, Tianjin 300132, China)

Abstract: Aiming at solving the problem of overhauling the outer wall of wind tower, the ways, defects and demands of the current wind tower inspection were analyzed, the mechanical structure, adsorption method and main functions of the existing climbing robot were summarized, a new type of robotic mechanism that can adapt to crawling on the wind tower surface was proposed to assist or replace the manual overhaul of wind power tower. The structure has two degrees of freedom of rotation, with a new type of permanent magnetic structure for wall adsorption, which can adsorb to the outer wall of the wind tower and move on the wall. Solidworks, Maxwell and other software were used for modeling and simulation, and according to the force analysis of the climbing robot under different instability conditions, the required adsorption force values were obtained, and then the adsorption unit simulation results were compared with the calculated adsorption force. The results indicate that the wallclimbing robot meets the requirement of stable adsorption, indicating that it can be stably adsorbed on the outer wall of the tower.

Key words: climbing robot; permanent magnet adsorption; wind power tower; overhaul