CN109732618A - It is a kind of for the inspection machine people of pump-storage generator and its control method - Google Patents
It is a kind of for the inspection machine people of pump-storage generator and its control method Download PDFInfo
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- CN109732618A CN109732618A CN201910063826.5A CN201910063826A CN109732618A CN 109732618 A CN109732618 A CN 109732618A CN 201910063826 A CN201910063826 A CN 201910063826A CN 109732618 A CN109732618 A CN 109732618A
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- 238000007689 inspection Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000009467 reduction Effects 0.000 claims abstract description 8
- 238000012423 maintenance Methods 0.000 claims description 16
- 238000001816 cooling Methods 0.000 claims description 11
- 230000003287 optical effect Effects 0.000 claims description 9
- 230000003827 upregulation Effects 0.000 claims description 9
- 239000000498 cooling water Substances 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 238000007667 floating Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims 1
- 230000007547 defect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 210000001367 artery Anatomy 0.000 description 2
- 210000003462 vein Anatomy 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a kind of for the inspection machine people of pump-storage generator and its control method, including chassis, universal wheel, driving device, cross slides, control system, ultrasonic distance-measuring sensor, data acquisition device；The front and back end middle position on chassis is symmetrical arranged the universal wheel, left and right sides setting driving device, driving device includes driving motor, gear reduction, driving wheel, driving wheel is symmetricly set on the both ends on chassis, and chassis is supported on the ground by the universal wheel, driving wheel.It is controlled provided by the present invention for the inspection machine people of pump-storage generator by control system, system uses second level tracking strategy, robot architecture is compact, it can be mobile flexible in narrow space operation, defect situation in discovery small space in time, guarantees unit equipment safe and stable operation, facilitates inspection work of the producers to narrow space, work difficulty and work risk are reduced, workload is reduced.
Description
Technical field
The present invention relates to robotic technology field, particularly relate to a kind of inspection machine people for pump-storage generator and its
Control method.
Background technique
After the alternator failure of existing pump-storage generator is shut down, on the one hand very due to generator temperature
Height can reach six or seven ten degrees Celsius, and pole can be generated to the body of staff by entering generator maintenance stator, rotor at this time
Big injury, another aspect air cooler of generator rear side stator frame, stator winding lower end region, stator winding confluence
Narrow space between row, magnetic pole winding, it is also very unsatisfactory to carry out observing effect using endoscope.
Summary of the invention
In view of this, a kind of for the inspection machine people of pump-storage generator and its control it is an object of the invention to propose
Method, after the alternator failure shutdown for solving existing pump-storage generator, generator temperature is high, narrow space is difficult
In maintenance the problem of.
Based on above-mentioned purpose, particularly, a kind of inspection machine people for pump-storage generator provided by the invention, including
Chassis, universal wheel, driving device, cross slides, control system, ultrasonic distance-measuring sensor, data acquisition device；Chassis
Front and back end middle position be symmetrical arranged the universal wheel, the left and right sides setting driving device, driving device include driving motor,
Gear reduction, driving wheel, driving wheel are symmetricly set on the both ends on chassis, and chassis is supported on ground by universal wheel, driving wheel
On face；Cross slides, control system, the fixed company of the upright slide block of cross slides and chassis is arranged in the upper surface of chassis
It connects, the horizontal slider end of cross slides is fixedly connected with the tail portion of rotary arc sensor；Driving motor passes through driving
Gear reduction drives driving wheel rotation, and driving wheel supports and drives robot motion.
Optionally, rotary arc sensor includes shell, hollow shaft motor, adjusts conducting rod, optical code disk, up-regulation bulbus cordis axis
It holds, lower heart ball bearing, cooling and protect gas chamber, one end of shell is fixedly connected with the end of horizontal slider, and the other end is forward
Side, which is stretched out, to be suspended in front of chassis；Hollow shaft motor, up-regulation heart ball bearing lower heart ball bearing, cooling and protect gas chamber coaxial
It is limited in the shell；The centre bore of the axially disposed perforation of the rotor of hollow shaft motor, two ends of rotor extend outwardly respectively
One section of integrally formed hollow shaft out, housing optical code disk in the hollow shaft of side adjust conducting rod from shell tail cover
Through-hole is inserted into the centre bore of the bearing hole, hollow shaft motor that sequentially pass through up-regulation heart ball bearing in shell, lowers heart ball bearing
Bearing hole, cooling and protection gas chamber centre bore after protrude into the tip of housing head；Protect gas and cooling water through rear
It send to cooling and protection gas chamber.
Optionally, the centre bore for adjusting conducting rod and hollow shaft is eccentric structure, the speed arteries and veins that optical code disk and light occasionally generate
It rushes signal and is sent to progress rotation speed modulation in control system, make to lead by adjusting the eccentricity between conducting rod and hollow shaft
Electric pole does conical motion.
Optionally, gear reduction is primary gear speed reducing machine；Universal wheel is floating roller.
Optionally, the bearing hole tight fit company for adjusting conducting rod and raising the bearing hole of heart ball bearing, lowering heart ball bearing
It connects.
Optionally, ultrasonic distance-measuring sensor, data acquisition device are arranged on chassis.
Optionally, driving motor, hollow shaft motor, cross slides by control system control.
Optionally, the closed-loop drive of rotary arc sensor is completed by single-chip microcontroller.
Optionally, magnetic patch is inlaid in the counterbore of chassis upper surface surrounding.
Particularly, the invention also provides the control methods of inspection machine people for pump-storage generator a kind of, including
Following steps: robot obtains maintenance environmental information by data acquisition device, identifies maintenance point and judges to overhaul path
Afterwards, controlling driving device by control system drives robot to execute straight line or turning motion close to maintenance point, passes through ultrasonic wave
Sensor detects front maintenance point at a distance from robot mass center, and control system is sliding by the level of control cross slides
Block is flexible to make rotary arc sensor overhaul point by close tracking；Hall sensor acquires electric current caused by rotary arc sensor
Variable signal and being sent in computer is handled, and is known through filtering processing and the identification of characteristic harmonics method welding gun deviation and obliquity information
After the reason of other places, operation rotary arc sensor current deviation and inclination value are obtained, obtains crosshead shoe machine in input controller
The control amount of structure and the driving wheel, then by D/A convert export, control system control driving wheel and cross slides move into
The accurate maintenance tracking of row.
From the above it can be seen that the inspection machine people provided by the present invention for pump-storage generator passes through control system
System control, robot system use second level tracking strategy, i.e., carry out rough tracking by mobile ontology, then overhauled by crosshead shoe
The accurate tracking of point, robot uses two wheel guide robot driving, each universal wheel in front and back, compact-sized, can move in narrow space operation
It is dynamic flexibly to find defect situation in small space in time, guarantee unit equipment safe and stable operation, facilitates producers to narrow
The inspection work in space reduces work difficulty and work risk, reduces workload.
Detailed description of the invention
Fig. 1 is overall structure schematic front view of the present invention；
Fig. 2 is overall structure schematic top plan view of the present invention；
Fig. 3 is rotary arc sensor structural block diagram of the present invention；
Fig. 4 is the flow chart of control method of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.
It should be noted that all statements for using " first " and " second " are for differentiation two in the embodiment of the present invention
The non-equal entity of a same names or non-equal parameter, it is seen that " first " " second " only for the convenience of statement, does not answer
It is interpreted as the restriction to the embodiment of the present invention, subsequent embodiment no longer illustrates this one by one.
As shown in Figure 1-3, a kind of inspection machine people for pump-storage generator, including chassis, universal wheel, driving dress
It sets, cross slides, control system, ultrasonic distance-measuring sensor, data acquisition device；The front and back end middle position on chassis 1
It is symmetrical arranged universal wheel 2, left and right sides setting driving device, driving device includes driving motor 3, gear reduction 4, driving
Wheel 5, driving wheel 5 are symmetricly set on the both ends on chassis 1, and chassis 1 is supported on the ground by universal wheel 2, driving wheel 5；
Cross slides, control system are arranged in the upper surface of chassis 1, and the upright slide block 6 of cross slides and chassis 1 are solid
Fixed connection, 7 end of horizontal slider of cross slides is fixedly connected with the tail portion of rotary arc sensor 8, referring to Fig. 1；
Driving motor 3 drives driving wheel 5 to rotate by driving gear reduction 4, and driving wheel 5 supports and drives robot
Movement.
Rotary arc sensor 8 includes shell 81, hollow shaft motor 82, adjusts conducting rod 83, optical code disk 84, up-regulation bulbus cordis
Bearing 85 lowers heart ball bearing 86, cooling and protects gas chamber 87, and one end of shell 81 is fixedly connected with the end of horizontal slider 7,
The other end stretches out forwards is suspended in 1 front of chassis；Hollow shaft motor 82, up-regulation heart ball bearing 85, downward heart ball bearing 86 are cold
But it is coaxially limited in shell 81 with protection gas chamber 87, referring to Fig. 3；
The centre bore of the axially disposed perforation of rotor 821 of hollow shaft motor 82,821 both ends of rotor extend outward respectively
One section of integrally formed hollow shaft 822, housing optical code disk 84 in the hollow shaft 822 of side adjust conducting rod 83 from 81 tail of shell
Through-hole on portion's end cap is inserted into the center of bearing hole, hollow shaft motor 82 that up-regulation heart ball bearing 85 is sequentially passed through in shell 81
The tip on 81 head of shell is protruded into after hole, the bearing hole for lowering heart ball bearing 86, cooling and the centre bore of protection gas chamber 87；Protection
Gas and cooling water are sent through 81 rear portion of shell to cooling and protection gas chamber 87, referring to Fig. 3.
The centre bore for adjusting conducting rod 83 and hollow shaft 822 is eccentric structure, the speed arteries and veins that optical code disk 84 and light occasionally generate
It rushes signal and is sent to progress rotation speed modulation in control system, by adjusting the bias between conducting rod 83 and hollow shaft 822
Amount makes conducting rod do conical motion.
Gear reduction 4 is primary gear speed reducing machine；Universal wheel 2 is floating roller.
The bearing hole tight fit company for adjusting conducting rod 83 and raising the bearing hole of heart ball bearing 85, lowering heart ball bearing 86
It connects.
Ultrasonic distance-measuring sensor, data acquisition device are arranged on chassis 1.
Driving motor 3, hollow shaft motor 82, cross slides by control system control.
The closed-loop drive of rotary arc sensor 8 is completed by single-chip microcontroller.
It is inlaid with magnetic patch 9 in the counterbore of 1 upper surface surrounding of chassis, referring to fig. 2.
As shown in figure 4, the control method of the inspection machine people for pump-storage generator includes the following steps:
S200: robot obtains maintenance environmental information by data acquisition device, identifies maintenance point and judges to overhaul
Behind path, driving device is controlled by control system, robot is driven to execute straight line or turning motion close to maintenance point, by super
Sonic sensor detects front maintenance point at a distance from robot mass center, the water that control system passes through control cross slides
Smooth block 7 is flexible to make rotary arc sensor 8 overhaul point by close tracking.
S400: current changing signal caused by Hall sensor acquisition rotary arc sensor 8 is simultaneously sent to calculating
It is handled in machine, after filtering processing and the identification of characteristic harmonics method welding gun deviation and obliquity information identifying processing, obtains operation rotation
Arc sensor 8 current deviation and inclination value obtain the control amount of cross slides and driving wheel 5 in input controller,
It is converted and is exported by D/A again, control system controls driving wheel 5 and cross slides movement carries out accurate maintenance tracking.
It should be understood by those ordinary skilled in the art that: the discussion of any of the above embodiment is exemplary only, not
It is intended to imply that the scope of the present disclosure (including claim) is limited to these examples；Under thinking of the invention, above embodiments
Or can also be combined between the technical characteristic in different embodiments, step can be realized with random order, and be existed such as
On different aspect of the invention many other variations, in order to it is concise they do not provided in details.
In addition, to simplify explanation and discussing, and in order not to obscure the invention, it can in provided attached drawing
It is connect with showing or can not show with the well known power ground of integrated circuit (IC) chip and other components.Furthermore, it is possible to
Device is shown in block diagram form, to avoid obscuring the invention, and this has also contemplated following facts, i.e., about this
The details of the embodiment of a little block diagram arrangements be height depend on will implementing platform of the invention (that is, these details should
It is completely within the scope of the understanding of those skilled in the art).Elaborating that detail (for example, circuit) is of the invention to describe
In the case where exemplary embodiment, it will be apparent to those skilled in the art that can be in these no details
In the case where or implement the present invention in the case that these details change.Therefore, these descriptions should be considered as explanation
Property rather than it is restrictive.
Although having been incorporated with specific embodiments of the present invention, invention has been described, according to retouching for front
It states, many replacements of these embodiments, modifications and variations will be apparent for those of ordinary skills.Example
Such as, discussed embodiment can be used in other memory architectures (for example, dynamic ram (DRAM)).
The embodiment of the present invention be intended to cover fall into all such replacements within the broad range of appended claims,
Modifications and variations.Therefore, all within the spirits and principles of the present invention, any omission, modification, equivalent replacement, the improvement made
Deng should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of inspection machine people for pump-storage generator, including chassis, universal wheel, driving device, cross slides,
Control system, ultrasonic distance-measuring sensor, data acquisition device；It is characterized in that, the front and back end middle position of the chassis (1)
It is symmetrical arranged the universal wheel (2), left and right sides setting driving device, the driving device includes that driving motor (3), gear subtract
Fast mechanism (4), driving wheel (5), the driving wheel (5) are symmetricly set on the both ends of the chassis (1), and the chassis (1) passes through
The universal wheel (2), driving wheel (5) support are on the ground；
Cross slides, control system, the upright slide block (6) of the cross slides is arranged in the upper surface of described chassis (1)
It is fixedly connected with the chassis (1), horizontal slider (7) end of the cross slides and the rotary arc sensor
(8) tail portion is fixedly connected；
The driving motor (3) is by driving the gear reduction (4) to drive driving wheel (5) rotation, the driving
Wheel (5) supports and drives the robot motion.
2. a kind of inspection machine people for pump-storage generator according to claim 1, which is characterized in that the rotation
Arc sensor (8) includes shell (81), hollow shaft motor (82), adjusts conducting rod (83), optical code disk (84), up-regulation bulbus cordis axis
It holds (85), lower heart ball bearing (86), cooling and protection gas chamber (87), one end of the shell (81) and the horizontal slider
(7) end is fixedly connected, and the other end stretches out forwards to be suspended in front of the chassis (1)；The hollow shaft motor (82), on
Self-aligning ball bearing (85) lowers heart ball bearing (86), cooling and gas chamber (87) is protected coaxially to be limited in the shell (81)；
The centre bore of rotor (821) axially disposed perforation of the hollow shaft motor (82), rotor (821) the both ends difference
One section of integrally formed hollow shaft (822) is extended outward, optical code disk described in housing in the hollow shaft (822) of side
(84), adjusting conducting rod (83) is inserted into the shell (81) successively from the through-hole on the shell (81) tail cover
Across the up-regulation bearing hole of heart ball bearing (85), hollow shaft motor (82) centre bore, lower the axis of heart ball bearing (86)
The tip on the shell (81) head is protruded into after the centre bore of bearing bore, cooling and protection gas chamber (87)；The protection gas and cooling
Water is sent through the shell (81) rear portion to the cooling and protection gas chamber (87).
3. a kind of inspection machine people for pump-storage generator according to claim 1, which is characterized in that the adjusting
Conducting rod (83) and the centre bore of the hollow shaft (822) are eccentric structure, the speed that the optical code disk (84) and light occasionally generate
Pulse signal is sent to progress rotation speed modulation in control system, passes through the adjusting conducting rod (83) and the hollow shaft
(822) eccentricity between makes conducting rod do conical motion.
4. a kind of inspection machine people for pump-storage generator according to claim 1, which is characterized in that the gear
Deceleration mechanism (4) is primary gear speed reducing machine；The universal wheel (2) is floating roller.
5. a kind of inspection machine people for pump-storage generator according to claim 1, which is characterized in that the adjusting
The bearing hole tight fit connection of conducting rod (83) and the bearing hole of up-regulation heart ball bearing (85), downward heart ball bearing (86).
6. a kind of inspection machine people for pump-storage generator according to claim 1, which is characterized in that the ultrasound
Wave distance measuring sensor, data acquisition device are arranged on the chassis (1).
7. a kind of inspection machine people for pump-storage generator according to claim 1, which is characterized in that the driving
Motor (3), hollow shaft motor (82), cross slides by control system control.
8. a kind of inspection machine people for pump-storage generator according to claim 1, which is characterized in that rotating the arc
The closed-loop drive of sensor (8) is completed by single-chip microcontroller.
9. a kind of inspection machine people for pump-storage generator according to claim 1, which is characterized in that the chassis
(1) it is inlaid in the counterbore of upper surface surrounding magnetic patch (9).
10. a kind of control method of the inspection machine people according to claim 1 for pump-storage generator, feature exist
In including the following steps:
Robot obtains maintenance environmental information by data acquisition device, identifies maintenance point and judges after overhauling path, leads to
It crosses control system control driving device driving robot and executes straight line or turning motion close to maintenance point, pass through ultrasonic sensor
Front maintenance point is detected at a distance from robot mass center, the horizontal slider that control system passes through control cross slides
(7) stretching makes rotary arc sensor (8) to overhaul point by close tracking.
Hall sensor acquires current changing signal caused by the rotary arc sensor (8) and is sent in computer
Processing obtains operation rotating the arc after filtering processing and the identification of characteristic harmonics method welding gun deviation and obliquity information identifying processing
Sensor (8) current deviation and inclination value obtain the control of cross slides and the driving wheel (5) in input controller
Amount, then converted and exported by D/A, control system controls the driving wheel (5) and cross slides movement accurately overhaul with
Track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910063826.5A CN109732618A (en) | 2019-01-23 | 2019-01-23 | It is a kind of for the inspection machine people of pump-storage generator and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910063826.5A CN109732618A (en) | 2019-01-23 | 2019-01-23 | It is a kind of for the inspection machine people of pump-storage generator and its control method |
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| Publication Number | Publication Date |
|---|---|
| CN109732618A true CN109732618A (en) | 2019-05-10 |
Family
ID=66365834
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910063826.5A Pending CN109732618A (en) | 2019-01-23 | 2019-01-23 | It is a kind of for the inspection machine people of pump-storage generator and its control method |
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2019
- 2019-01-23 CN CN201910063826.5A patent/CN109732618A/en active Pending
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| US20070234492A1 (en) * | 2005-12-02 | 2007-10-11 | Irobot Corporation | Coverage robot mobility |
| CN201042752Y (en) * | 2007-04-05 | 2008-04-02 | 南昌大学 | High-speed rotating scanning welding torch |
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