The design and research of six-legged robot based on traveling on supporting pillar of wind turbine and electromagnet

摘要

With the increasing global demand for clean energy, wind power generation, as a key form of renewable energy, has developed rapidly in recent years. However, the maintenance and overhaul of wind generating units are faced with safety risks of high-altitude operation and low efficiency of traditional manual patrol inspection. In response to these challenges, many studies have tried to develop intelligent patrol technologies, such as unmanned aerial vehicles and wall climbing robots, but they still have some shortcomings in stability and complex surface adaptability. To this end, this paper presents an innovative solution based on the combination of a hexapod robot and electromagnet technology for the high-altitude inspection of a wind turbine support column. The robot realizes stable adhesion with the metal surface through electromagnet, solves the problems of sliding and insufficient friction on the surface of the support column, and enables it to walk on the vertical metal surface efficiently. The main research contents of this paper include design and kinematic analysis, electromagnetic adhesion regulation and experimental verification. The experimental results show that this scheme has significant advantages in stability and flexibility and provides a safe and efficient solution for high-altitude inspection and maintenance of wind turbines. This research not only fills the technical gap of the application of hexapod robot in vertical surface but also provides new ideas for intelligent inspection and complex environment operation, which has important practical significance and broad application prospects.