Design and Verification of Wall-climbing Robot for Wind Turbine Tubular Tower Based on Strong Adhesion Characteristics

HAN Feng; LIU Chuanliang; ZHANG Chengyi

doi:10.19805/j.cnki.jcspe.2025.250342

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Design and Verification of Wall-climbing Robot for Wind Turbine Tubular Tower Based on Strong Adhesion Characteristics

更新时间：2026-10-10

- Design and Verification of Wall-climbing Robot for Wind Turbine Tubular Tower Based on Strong Adhesion Characteristics
- Chinese Journal of Power Engineering Vol. 45, Issue 10, Pages: 1714-1721(2025)
- 作者机构：
  
  上海发电设备成套设计研究院有限责任公司,上海,200240
- 作者简介：
- 基金信息：
- DOI：10.19805/j.cnki.jcspe.2025.250342
  CLC：
- Online First：24 June 2025，
  
  Published：2025
- 稿件说明：
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韩峰,刘传亮,张成义. 基于强吸附特征的风电塔筒爬壁机器人设计与验证动力工程学报, 2025, 45(10): 1714-1721 https://doi.

org/10.19805/j.cnki.jcspe.2025.250342
韩峰,刘传亮,张成义. 基于强吸附特征的风电塔筒爬壁机器人设计与验证动力工程学报, 2025, 45(10): 1714-1721 https://doi. DOI： 10.19805/j.cnki.jcspe.2025.250342.

org/10.19805/j.cnki.jcspe.2025.250342 DOI：

摘要

针对风电塔筒运维领域爬壁机器人载重设计方向的研究成果较少

无法满足风电塔筒运维场景需求的问题

通过静力学分析及磁体优化设计

研制了一款基于强吸附特征的风电塔筒机器人样机。开展了移动和驱动单元设计

选取了最优履带材质和驱动轮模块;开展了多工况受力分析

计算出机器人不发生静态滑落、纵向翻落的最低吸附力要求;通过控制变量法分析了永磁模块各结构参数对吸附力的影响

提出了采用连续非线性规划算法优化各结构参数

确定了永磁模块最优磁积比。最终通过样机开展Q235钢板壁面及模拟环境下本体载重和清洗工装载重的测试。研究结果表明:设计的机器人可以在风电塔筒倾斜角为89.4°的条件下不滑落、不倾覆

额定载重能力(以质量计)可以达到80 kg

满足风电场各项实际维护的工作要求。

Abstract

In the field of wind turbine tubular tower maintenance

there is a scarcity of research findings concerning the loading design of wall-climbing robots

which cannot fully meet the demands of wind turbine tubular tower maintenance scenarios. To address this issue

a prototype of a robot for wind turbine tubular tower based on strong adhesion characteristics was developed through static analysis and magnetic module optimization design. The design of the mobile and drive units was carried out

while the optimal track material and drive wheel module were selected. The minimum adhesion force requirements for the robot to avoid static slippage and longitudinal overturning were calculated with multi-working-condition force analysis. By using the control variable method

the influence of various structural parameters of the permanent magnet module on the adhesion force was analyzed. A continuous nonlinear programming algorithm was proposed to optimize these structural parameters

thereby determining the optimal magnetic product ratio of the permanent magnet module. Finally

tests were conducted on the prototype to evaluate its loading capacity for both the robot body and cleaning tooling on Q235 steel plate walls and in simulated environments. Research results demonstrate that the designed robot can remain stable without slipping or overturning on a wind turbine tubular tower with an inclination angle of 89.4°. It has a rated loading capacity (measured by mass) of up to 80 kg

meeting the practical maintenance requirements of wind farms.

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references

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