Design And Optimization Of The Adsorption Unit For A Stator Fault Detection Robot

At present,the common methods of stator fault detection are usually implemented after pumping rotor.This method can?t meet the needs of the State Grid development because of its large workload,poor economy and low efficiency.It is meaningful to design a well-climbing robot which is capable of inspecting the faults in the stator of a generator without pumping out the rotor.The main research contents are as follows:(1)According to the detection function of intelligent inspection robot working environment and requirements,the characteristics of each adsorption mode,movement mode and driving mode of the intelligent climbing robot are analyzed in detail.A structure of non-contact and variable magnetic force permanent magnet wall climbing robot is proposed.The 3D model of the power driving module,the structure of ontology and the camera detection device are designed by using SolidWorks software.(2)The finite element analysis and optimization design of the new permanent magnetic adsorption unit are carried out.We use the finite element method to set the magnetic field model of adsorption unit and analysis the influence of the length of magnet with different magnetizing directions,yoke iron thickness and stator air gap about adsorb ability.By comparing with the traditional permanent magnet adsorption unit,the advantages of the single side magnetic field and high magnetic efficiency of the new adsorption unit are verified by simulation.The particle swarm optimization algorithm is used to optimize the structural parameters of the permanent magnetic adsorption unit,and the magnetic properties of the adsorption unit before and after optimization are compared and analyzed,and the validity of the optimization results is verified.(3)The whole test of the prototype of the wall climbing robot is tested in the stator bore.The adsorption force of adsorption unit is measured by the experiment.And the basic functions of adsorption,operation and image detection of wall climbing robot are detected by using generator platform.This tests verify the feasibility of the stator bore fault detection of wall climbing robot prototype scheme.