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首页> 外文会议>Mechatronics, 2009. ICM 2009 >Robotic crawler for inspecting generators with very narrow air gaps
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Robotic crawler for inspecting generators with very narrow air gaps

机译：机器人履带，用于检查气隙非常窄的发电机

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摘要

The non-destructive inspection of generator stators is a repetitive and cost-intensive task. For some types with very small entrance gaps (around 9 mm height), it was even necessary to always remove the rotor. This paper describes the design and prototype implementation of a new robotic crawler which is only 8 mm high and thus can inspect all types of generators with the rotor installed. Different solutions of how to realize torque transmission and attraction forces at such a small size are discussed, as well as the design of magnetic guiding wheels with a mechanism to fold them when passing the narrow entrance gap. The paper concludes with some test results - both in an artificial test environment and in real generators - and provides an outlook on future improvements of the prototype.
机译：发电机定子的无损检查是一项重复且成本高昂的任务。对于某些入口间隙很小（大约9毫米高）的类型，甚至有必要始终卸下转子。本文介绍了新型机器人履带的设计和原型实现，该履带仅高8 mm，因此可以检查安装了转子的所有类型的发电机。讨论了如何在这么小的尺寸下实现扭矩传递和吸引力的不同解决方案，以及磁导轮的设计，该机构设计有在通过狭窄的入口间隙时将其折叠的机构。本文总结了一些测试结果-无论是在人工测试环境中还是在实际生成器中-并提供了对原型未来改进的展望。

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