Structural design and motion simulation of endoscopic robot for wind turbine blade
Since the wind turbine blade's leading-edge space has such characteristics as irregular shape and large variation in di-ameter,in this article the design requirements for the endoscopic robots are formulated.A design scheme based on a crawler-type walk-ing mechanism and a scissor-type variable diameter mechanism is proposed.The 3D models of two different endoscopic robots are set up.The structures and functions of the robots'each component are introduced in detail.Each robot,which is mainly composed of a walking module,a variable diameter module and a supporting module,has large-scale variable diameter,small-scale support of follow-ing shape and differential steering capabilities.It,equipped with a mobile power supply,can be controlled wirelessly.Also,it,e-quipped with a detection equipment,can detect the leading-edge space.Finally,each robot's variable diameter mechanism is subject to motion simulation.The results show that each robot's working diameter is 395～1 492 mm,which meets the design requirements.
internal detection of wind turbine bladeendoscopic robotwide range of variable diameterstructural design
万方数据
维普
