The Research On Crawler-type Switchable Magnetic Adhesion Wall-climbing Robot For Slit Detection

The hydro-generator is mainly composed of stator and rotor,which need regular inspection and maintenance.The traditional detection method requires the rotor to be extracted,which has a long cycle and is expensive,and the loss of production shutdown during the maintenance period is also quite serious.How to improve the overhaul efficiency of power generation equipment,realize automatic detection of rotors without pulling away,shorten overhaul time and reduce maintenance costs,these have become problems that need to be solved urgently.In view of the above background situation,this subject proposes a crawler-type switchable magnetic adhesion thin-gap climbing robot for slit detection based on full investigation of domestic and foreign related research,to replace the existing detection methods that rely entirely on manual detection of stators and rotors.At the same time,facing the existing wallclimbing robots’ poor adaptability to wall conditions,insufficient adsorption capacity,poor load capacity and weak movement flexibility,research has been carried out to achieve the design goals of reliable adsorption and flexible walking of the robot.First of all,this article has conducted a thorough investigation of wall-climbing robots,magnetic adsorption mechanisms and switchable magnetic adhesion implementation methods at home and abroad,and has an in-depth understanding of the current research status.Then,based on the current research status,the design of this subject is drawn.Secondly,according to the design index and working environment of the robot,this article analyzes the advantages and disadvantages of the robot’s various adsorption methods,walking methods,driving methods and operating methods,selects the technical solution suitable for this topic,establishes the robot mechanics model,and solves the magnet adsorption force and driving torque,and then the overall mechanical structure of the robot is designed and completed.Thirdly,based on COMSOL Multiphysics simulation software,the finite element optimization design of the magnetic adsorption device is carried out.The theory deduces the factors that affect the magnet’s attraction force.This article proposes the optimization goal of the magnet unit,optimizes the design of the structure parameters of the magnet unit,and ensures that the combination of the magnetic attraction force and the magnetic mass ratio of the magnetic adsorption device obtains the optimal solution.Then,the simulation data is verified through experimental results.Fourthly,through comparative analysis of two methods to achieve switchable magnetic adhesion: adjusting the size of the air gap,changing the magnetic flux path,considering the limitation of the thickness of the wall-climbing robot mechanical structure by the gap between the stator and the rotor,and the realization of the control of the switchable magnetic adhesion device,finally determined the switchable magnetic adhesion mechanism adopted by the robot.Based on COMSOL Multiphysics,the finite element analysis of the switchable magnetic adhesion mechanism is carried out,and the combination of the switchable magnetic adhesion mechanism is screened in combination with experimental methods.Finally,the hardware and software structure of the robot control system are introduced,as well as the robot walking,steering,and magnetic adsorption force controllable adjustment experiments.Based on the experimental results,the problems of the prototype are analyzed and further optimization directions are proposed.