The invention discloses a wind power tower drum wall-climbing robot and an intelligent motion control method thereof, and relates to the field of wind power operation and maintenance robotics.The wall-climbing robot comprises a first bearing main body, a second bearing main body, a transverse rotating connecting component and two sets of power devices, and the first bearing main body and the second bearing main body are rotationally connected through the transverse rotating connecting component; the bearing main body I and the bearing main body II are respectively connected with a power device; according to the intelligent motion control method, mathematical modeling is conducted on the operation posture of the wall-climbing robot, the mathematical relation between the transformation posture in the robot and the overall posture of the robot after the transverse rotation connecting component is added is established, and the wall-climbing robot is adjusted based on the mathematical relation. According to the wind power tower drum wall-climbing robot and the intelligent motion control method thereof, the contact area between the robot and the surface of a tower drum can be increased, and therefore the adhesive force and carrying capacity of the robot can be increased under the condition of the same material.

    本发明公开了一种风电塔筒爬壁机器人及其智能运动控制方法,涉及风电运维机器人领域,爬壁机器人包括承载主体一、承载主体二、横向旋转连接构件和两组动力装置,承载主体一和承载主体二之间通过横向旋转连接构件转动连接,承载主体一和承载主体二分别与一个动力装置相连接;智能运动控制方法通过对爬壁机器人的作业姿态进行数学建模,建立加入横向旋转连接构件后机器人内部的变换姿态与机器人整体姿态的数学联系,基于该数学联系对机器人爬壁机器人进行调整。本发明采用上述结构和方法的一种风电塔筒爬壁机器人及其智能运动控制方法,能够增大机器人与塔筒表面的接触面积,从而能够在相同材质下增大机器人的附着力和运载能力。


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    Title :

    Wind power tower drum wall-climbing robot and intelligent motion control method thereof


    Additional title:

    一种风电塔筒爬壁机器人及其智能运动控制方法


    Contributors:
    GAO YUNFENG (author) / HODOGANISHI (author) / DAI WENXIN (author) / ZHANG JIACHEN (author) / YANG HONGTAO (author) / YU YANG (author) / CHENG BIN (author) / HU BITAI (author)

    Publication date :

    2024-05-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60B VEHICLE WHEELS , Räder für Fahrzeuge



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