CN107394971A - Climbing robot - Google Patents
Climbing robot Download PDFInfo
- Publication number
- CN107394971A CN107394971A CN201710764698.8A CN201710764698A CN107394971A CN 107394971 A CN107394971 A CN 107394971A CN 201710764698 A CN201710764698 A CN 201710764698A CN 107394971 A CN107394971 A CN 107394971A
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- China
- Prior art keywords
- climbing robot
- installed part
- connector
- rotor
- stator
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manufacture Of Motors, Generators (AREA)
Abstract
The present invention relates to a kind of climbing robot.The climbing robot is used to be positioned in the gap between stator core and rotor core, climbing robot includes unilateral mechanism, unilateral mechanism includes installed part, adsorbent equipment and drive device, and adsorbent equipment can be adsorbed on stator core or rotor core on installed part；Drive device can drive the climbing robot being adsorbed on stator core or rotor core to be moved on stator core or rotor core on installed part.The climbing robot, can be time saving and energy saving in maintenance and experiment.
Description
Technical field
The present invention relates to electrical repair technical field, more particularly to a kind of climbing robot.
Background technology
Generator generally includes stator and the rotor being arranged in stator, it is necessary to will periodically turn after generator comes into operation
Son extracts (take out and wear rotor) out from stator, so that staff enters stator thorax, carries out a series of maintenance and experiment.Take out to wear and turn
Son process waste time and energy, by take out wear about 2 meters of diameter, about 15.38 meters of length, about 244 tons of weight rotor exemplified by, it is necessary to use
Large-scale lifting appliance, a large amount of parts are removed, and need more people's coordinative operations, it usually needs time-consuming 5 days, about 1100 work days.
In addition, rotor grows 15.38 meters, 2 meters of diameter, and with only 58 millimeters at the air gap of stator minimum, be easy to send out in extraction
The problems such as raw collision, damages equipment.
The content of the invention
Based on this, it is necessary to provide one kind in maintenance and experiment, the time saving and energy saving climbing robot of energy.
A kind of climbing robot, for being positioned in the gap between stator core and rotor core, the crawling machine
People includes unilateral mechanism, and the unilateral mechanism includes installed part, adsorbent equipment and drive device, and the adsorbent equipment is located at described
On installed part, it can be adsorbed on the stator core or the rotor core；The drive device is on the installed part, energy
Driving is adsorbed in the climbing robot on the stator core or the rotor core in the stator core or described turn
Moved on sub- iron core.
When using above-mentioned climbing robot, first above-mentioned climbing robot is put between stator module and rotor assembly
In gap, adsorbent equipment is adsorbed on stator core (stator iron bar) or rotor core (rotor iron bar), so as to climbing robot
Any position of stator core or rotor core can be fixed on, without dropping.When configuring some use on climbing robot
In overhauling and during the mechanism of experiment stator module and rotor assembly, drive device climbing robot can be driven in stator core or
Moved on rotor core, overhauled and tested with rotor assembly with the stator module to different parts.Using above-mentioned creeper
Device people is overhauled and tested with rotor assembly to stator module, it is not necessary to and take out and wear rotor assembly, can be time saving and energy saving, security is more
It is high.It need not take out and wear rotor, the big revision of the convention of single is saved 5 days, and the big revision of the convention saves man-day every time, effectively can eliminate to take out and wear rotor
Break the risk of equipment.
In one of the embodiments, the number of the adsorbent equipment is two, and two adsorbent equipments are respectively arranged on
The both ends of the installed part, the drive device are located at the middle part of the installed part.
In one of the embodiments, the adsorbent equipment includes regulating part and the absorption located at described regulating part one end
Part, for the regulating part on the installed part, the regulating part can regulate and control the adsorption piece and the stator core or described
Spacing between rotor core；
Or the magnet coil that the adsorbent equipment is controllable magnetic.
In one of the embodiments, the drive device includes actuator, driving wheel, driven pulley and crawler belt, described
On the installed part, the driving wheel is connected actuator with the actuator, and the driven pulley is located on the installed part,
And the driven pulley is identical with the bearing of trend of the installed part to the direction of the driving wheel, the crawler belt is sheathed on the drive
On driving wheel and the driven pulley, and it is connected with the driving wheel and the driven pulley.
In one of the embodiments, the driving wheel and the driven pulley engage with the crawler belt.
In one of the embodiments, climbing robot also includes close with the stator core located at the adsorbent equipment
Or the rotor core side the first screening glass and with first screening glass be in angle set the second screening glass, it is described
Second screening glass is between the installed part and first screening glass.
In one of the embodiments, the climbing robot also includes bindiny mechanism, and the number of the unilateral mechanism is
Two, the both ends of the bindiny mechanism are connected with two unilateral mechanisms respectively.
In one of the embodiments, the bindiny mechanism includes being connected with second in the first connector that angle is set
Part, the size of the angle between first connector and second connector can be adjusted, first connector and described the
Two connectors are connected with two installed parts respectively.
In one of the embodiments, the bindiny mechanism also includes secured adjusted part, and the secured adjusted part includes spiral shell
Bar, the first nut and the second nut, the screw rod are arranged in first connector being stacked and second connector
In, first nut sleeve is located at the side where second connector, second nut sleeve on the screw rod
On the screw rod, and positioned at the side where first connector.
In one of the embodiments, the climbing robot also includes cable, and described cable one end fills with the driving
Electrical connection is put, the other end is used to be electrically connected with external equipment, and the cable is fixed with bindiny mechanism or the installed part
Connection.
Brief description of the drawings
Fig. 1 is the structural representation in gap of the climbing robot of an embodiment between stator module and rotor assembly
Figure；
Fig. 2 is the structural representation of the climbing robot of an embodiment；
Fig. 3 is the structural representation of the unilateral mechanism in Fig. 2；
Fig. 4 is the structural representation that the climbing robot of an embodiment is adsorbed on stator module；
Fig. 5 is the structural representation that the climbing robot of an embodiment is adsorbed on rotor assembly.
Embodiment
Below in conjunction with the accompanying drawings and climbing robot is further described specific embodiment.
As shown in figure 1, generator includes stator module 10 and the rotor assembly 20 being arranged in stator module 10.Stator pack
Part 10 includes stator core 12, stator coil 14 and stator slot wedge 16.Stator slot winding 12a is offered on stator core 12,
In stator slot winding 12a, stator coil 14 is pressed in stator slot winding 12a stator coil 14 by stator slot wedge 16.
In present embodiment, bearing of trend (first direction) extensions of the stator slot winding 12a along stator core 12, from stator core 12
One end extends to the other end of stator core 12.Stator slot winding 12a number to be multiple, multiple stator slot winding 12a along
The circumferentially-spaced arrangement of stator core 12, so that stator core 12 includes a plurality of circumferentially-spaced row along stator core 12
The stator iron bar 12b of cloth.
Rotor assembly 20 includes rotor core 22, rotor coil 24 and rotor slot wedge 26, is offered on rotor core 22
Rotor line ring recess 22a, for rotor coil 24 in rotor line ring recess 22a, rotor coil 24 is pressed in rotor by rotor slot wedge 26
In coil groove 22a.In the present embodiment, bearing of trend (first direction) extensions of the rotor line ring recess 22a along rotor core 22,
The other end of rotor core 22 is extended to from one end of rotor core 22.Rotor line ring recess 22a number is multiple, multiple rotors
Circumferentially-spaced arrangements of the coil groove 22a along rotor core 22, namely rotor core 22 include it is a plurality of along rotor core 22
The rotor iron bar 22b of circumferentially-spaced arrangement.Wherein, stator core 12 and the magnetic conduction of rotor core 22, and stator slot wedge 16 and rotor
The not magnetic conduction of slot wedge 26.
Climbing robot 30 is used to be positioned in the gap between stator module 10 and rotor assembly 20, namely the creeper
The size of device people 30 is smaller, can enter in the gap between stator module 10 and rotor assembly 20.As shown in Figures 1 and 2, at this
In embodiment, climbing robot 30 includes two unilateral mechanisms 32 and connects the bindiny mechanism 34 of two unilateral mechanisms 32.
Bindiny mechanism 34 across on stator slot winding 12a or rotor line ring recess 22a, and two unilateral mechanisms 32 adsorb respectively it is fixed at this
On the stator iron bar 12b or rotor iron bar 22b of sub-line ring recess 12a or rotor line ring recess 22a both sides.When in climbing robot 30
Upper configuration some when being used to overhaul and test the mechanism of stator module 10 and rotor assembly 20, for example, configuration high definition microphone with
And that beats stator slot wedge 16 or rotor slot wedge 26 beats hammer, passes through phonetic analysis, you can to stator slot wedge 16 or rotor slot wedge
26 elasticity is tested.
Unilateral mechanism 32 is described in detail below, as shown in Figures 2 and 3, unilateral mechanism 32 includes installed part 100, absorption dress
Put 200 and drive device 300.Adsorbent equipment 200 is on installed part 100, and adsorbent equipment 200 can be adsorbed in stator core 12
Or on rotor core 22.Drive device 300 can drive on installed part 100 and be adsorbed in stator core 12 or rotor core 22
On climbing robot 30 moved on stator core 12 or rotor core 22, namely drive device 300 is climbing robot 30
Power source.
When using above-mentioned climbing robot 30, above-mentioned climbing robot 30 is first put into stator module 10 and rotor assembly
In gap between 20, adsorbent equipment 200 is adsorbed in stator core 12 (stator iron bar 12b) or (the rotor iron bar of rotor core 22
On 22b), so as to which climbing robot 30 can be fixed on any position of stator core 12 or rotor core 22, without dropping.
Drive device 300 can drive climbing robot 30 to be moved on stator core 12 or rotor core 22, with to different parts
Stator module 10 is overhauled and tested with rotor assembly 20, while adsorbent equipment 200 may insure that climbing robot 30 is moving
In dynamic process, do not fall out.Stator module 10 is overhauled and tried with rotor assembly 20 using above-mentioned climbing robot 30
Test, it is not necessary to take out and wear rotor assembly 20, can be time saving and energy saving, security is higher.It need not take out and wear rotor, the big revision of the convention of single saves 5
My god, the big revision of the convention saves 1100 man-days every time, can effectively eliminate to take out and wear the risk that rotor breaks equipment.
It should be noted that adsorbent equipment 200 can cause climbing robot 30 firmly to be adsorbed in radially (second direction)
In on stator core 12 or rotor core 22, do not fall out, and drive device 300 can make climbing robot 30 in transverse direction (first
Direction) on move, and during movement, climbing robot 30 is adsorbed on stator core 12 or rotor core 22 always,
Do not fall out.Being located at stator core 12 or the top of rotor core 22 with climbing robot 30, (climbing robot 30 is positioned at the top of circle
Portion) exemplified by, the gravity of climbing robot 30 straight down, absorption of the climbing robot 30 by adsorbent equipment 200 straight up
Power, absorption affinity are more than gravity, so as to which climbing robot 30 is not fallen out, and are inhaled when the driving force that drive device 300 provides is more than
During the frictional force that attached power is brought, climbing robot 30 can move in transverse direction (first direction).
In the present embodiment, installed part 100 is connecting rod, so that the structure of climbing robot 30 is smaller.
In other embodiment, installed part 100 can also be installing plate.
In the present embodiment, the number of adsorbent equipment 200 is two, and two adsorbent equipments 200 are respectively arranged on installed part
100 both ends.Drive device 300 is located at the middle part of installed part 100.In this way, climbing robot 30 can be caused radially (second
Direction) firmly it is adsorbed on stator core 12 or rotor core 22, do not fall out, while climbing robot 30 can be caused to exist
Laterally the moving resistance of (first direction) is smaller, so as to quickly move.
Further, in the present embodiment, adsorbent equipment 200 includes regulating part 210 and located at the one end of regulating part 210
Adsorption piece 220.For regulating part 210 on installed part 100, regulating part 210 can regulate and control adsorption piece 220 and stator core 12 or rotor
Spacing between iron core 22., can be by adjusting regulating part 210 so that adsorption piece 220 when using above-mentioned climbing robot 30
Close proximity to stator core 12 or rotor core 22, but adsorption piece 220 is not direct is contacted with stator core 12 or rotor core 22,
Spacing be present between adsorption piece 220 and stator core 12 or rotor core 22.In this way, climbing robot 30 can be caused radially
(second direction) is firmly adsorbed on stator core 12 or rotor core 22, moreover it is possible to avoids adsorption piece 220 because of direct and stator
Iron core 12 or rotor core 22 contact and larger frictional force be present, are advantageous to reduce climbing robot 30 in transverse direction (first party
To) moving resistance.In the present embodiment, adsorption piece 220 is permanent magnet.In other embodiments, can also use can
The magnet coil for controlling magnetic force substitutes above-mentioned regulating part 210 and adsorption piece 220.
Specifically, in the present embodiment, installed part 100 is provided with through hole, regulating part 210 includes screw rod 212 and nut
214, screw rod 212 is arranged on through hole, and nut 214 is sheathed on screw rod 212, and adsorption piece 220 is located at the end face of the one end of screw rod 212
On, and adsorption piece 220 and nut 214 are respectively positioned at the relative both sides of installed part 100.Preferably, in the present embodiment, nut
214 be self-locking nut, and nut 214 can be avoided the problem of voluntarily releasing occur because of reasons such as vibrations, avoid nut 214, spiral shell
The grade element of bar 212 falls to generator.
In the present embodiment, drive device 300 includes actuator, driving wheel 310, driven pulley 320 and crawler belt 330.
On installed part 100, driving wheel 310 is connected actuator with actuator, and driven pulley 320 is on installed part 100, and driven pulley
320 is identical with the bearing of trend of installed part 100 to the direction of driving wheel 310, and crawler belt 330 is sheathed on driving wheel 310 and driven pulley
On 320, and it is connected with driving wheel 310 and driven pulley 320.When drive device 300 works, actuator drives driving wheel 310
Rotate, driving wheel 310 drives crawler belt 330 to rotate, and crawler belt 330 drives driven pulley 320 to rotate, so as to realize crawler belt 330 in stator
Creeped on iron core 12 or rotor core 22, and then realize that climbing robot 10 is creeped on stator core 12 or rotor core 22.
Creeped by crawler belt 330 on stator core 12 or rotor core 22, contact area is big, can avoid damage stator core 12 or
Rotor core 22.
Further, in the present embodiment, the number of driven pulley 320 is two, and driving wheel 310 is located at two driven pulleys
Between 320.Driving wheel 310 and driven pulley 320 engage with crawler belt 330 respectively, so as to avoid the occurrence of the phenomenon of skidding, ensure
Climbing robot 10 is stable to creep.Specifically, in the present embodiment, the outer surface of driving wheel 310 and driven pulley 320, and
Shallow tooth is equipped with the inner surface of crawler belt 330, driving wheel 310 and driven pulley 320 are engaged with crawler belt 330 by shallow tooth respectively.
In present embodiment, driven pulley 320 is provided with encoder, it is hereby achieved that the travel distance of climbing robot 30.
In the present embodiment, climbing robot 30 includes two unilateral mechanisms 32 of two unilateral mechanisms 32 and connection
Bindiny mechanism 34, when using above-mentioned climbing robot 30, two unilateral mechanisms 32 need to be adsorbed in two stator iron bars respectively
On 12b or two rotor iron bar 22b, some can be now configured in bindiny mechanism 34 or on two installed parts 100 and is used to examine
The mechanism of stator module 10 and rotor assembly 20 is repaiied and tests, to realize stator module 10 and rotor assembly 20 to different parts
Overhauled and tested.
Because the inner surface of stator core 12 and the outer surface of rotor core 22 are cambered surface, in order that two it is unilateral
Mechanism 32 can adsorb with two iron bars well, and as shown in Fig. 2, Fig. 4 and Fig. 5, in the present embodiment, bindiny mechanism 34 wraps
The first connector 410 and the second connector 420 set in angle is included, between the first connector 410 and the second connector 420
The size of angle is adjustable.First connector 410 is connected with two installed parts 100 respectively with the second connector 420.Pass through regulation the
Angle between the connector 420 of a connection piece 410 and second so that two unilateral mechanisms 32 can well with two iron
Bar adsorbs, so as to there is the situation for avoiding the occurrence of climbing robot 10 and dropping.In other embodiments, flexibility can also be used
Bindiny mechanism substitutes above-mentioned bindiny mechanism 34.
In other embodiments, climbing robot 30 can also include a unilateral mechanism 32, now, climbing robot
30 can be adsorbed on an a stator iron bar 12b or rotor iron bar 22b, can configure some on installed part 100 and be used for
Maintenance and the mechanism of experiment stator module 10 and rotor assembly 20, to realize stator module 10 and rotor assembly to different parts
20 are overhauled and are tested.Climbing robot 30 includes a unilateral mechanism 32, can be adsorbed in a stator iron bar 12b well
Or on a rotor iron bar 22b, and the structure of climbing robot 30 is smaller more flexible.
Further, as shown in Fig. 2 in the present embodiment, bindiny mechanism 34 also includes secured adjusted part 430, fixed to adjust
Section part 430 includes screw rod 432, the first nut 434 and the second nut 436, and screw rod 432 is arranged in the first connector being stacked
410 and second in connector 420, and the first nut 434 is sheathed on screw rod 432, and positioned at one where the second connector 420
Side, the second nut 436 are sheathed on screw rod 432, and positioned at the side where the first connector 410.Using above-mentioned creeper
During device people 30, the first nut 434 is first unclamped so that after two unilateral mechanisms 32 are adsorbed with two iron bars respectively, then tighten first
Nut 434.Specifically, in the present embodiment, the first nut 434 and the second nut 436 are self-locking nut.
Further, in the present embodiment, one end that the first connector 410 is connected with the second connector 420 is provided with first
Stage portion, one end that the second connector 420 is connected with the first connector 410 are provided with second step portion, first step portion and second
Stage portion is complementary, and screw rod 432 is arranged in first step portion and second step portion.
Further, in the present embodiment, climbing robot 30 includes Liang Ge bindiny mechanisms 34, so that creeping
The Stability Analysis of Structures of robot 30.
Further, in the present embodiment, climbing robot 30 also includes cable 500, the one end of cable 500 and drive device
300 electrical connections, the other end is electrically connected for external equipment, and cable 500 is fixedly connected with bindiny mechanism 34.Climbed so as to work as
When the drive device of drive device 300 of row robot 30 breaks down, or external equipment stops powering to drive device 300
When, climbing robot 30 can be come out from dragging between the gap of stator module 20 and rotor assembly 30 by cable 500.It is preferred that
, cable 500 is built-in with steel wire, and the tensile strength of cable 500 is more than 5.0, and (tension every square centimeter that can resist is
5Mpa)。
Further, as shown in figure 3, in the present embodiment, climbing robot 30 also includes close located at adsorbent equipment 200
Stator core 12 or the first screening glass 610 of the side of rotor core 22.The first screening glass 610 is set to avoid climbing robot
30 when creeping, and adsorbent equipment 200 scratches stator core 12 or rotor core 22.
In the present embodiment, climbing robot 30 includes two unilateral mechanisms 32, namely climbing robot 30 has two
Individual drive device 300, by controlling two drive devices 300 so that the creep speed of two unilateral mechanisms 32 is inconsistent
Realize that climbing robot 30 turns to.Because the inner surface of stator core 12 and the outer surface of rotor core 22 are cambered surface,
During steering, adsorbent equipment 200 easily encounters stator core 12 or rotor core 22, in order to protect iron core, in the present embodiment,
Climbing robot 30 also includes the second screening glass 620 set with the first screening glass 610 in angle, and the second screening glass 620 is located at
Between the screening glass 610 of installed part 100 and first.Specifically, in embodiments, the first screening glass 610 and the second screening glass 620
It is integrally formed, is wear-resistant plastic.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
- A kind of 1. climbing robot, for being positioned in the gap between stator core and rotor core, it is characterised in that described Climbing robot includes unilateral mechanism, and the unilateral mechanism includes installed part, adsorbent equipment and drive device, the adsorbent equipment On the installed part, it can be adsorbed on the stator core or the rotor core；The drive device is located at the peace In piece installing, the climbing robot being adsorbed on the stator core or the rotor core can be driven in the stator core Or moved on the rotor core.
- 2. climbing robot according to claim 1, it is characterised in that the number of the adsorbent equipment is two, two The adsorbent equipment is respectively arranged on the both ends of the installed part, and the drive device is located at the middle part of the installed part.
- 3. climbing robot according to claim 1, it is characterised in that the adsorbent equipment includes regulating part and is located at The adsorption piece of described regulating part one end, for the regulating part on the installed part, the regulating part can regulate and control the adsorption piece With the spacing between the stator core or the rotor core；Or the magnet coil that the adsorbent equipment is controllable magnetic.
- 4. climbing robot according to claim 1, it is characterised in that the drive device include actuator, driving wheel, Driven pulley and crawler belt, on the installed part, the driving wheel is connected the actuator with the actuator, described driven Wheel is on the installed part, and the driven pulley is identical with the bearing of trend of the installed part to the direction of the driving wheel, The crawler belt is sheathed on the driving wheel and the driven pulley, and is connected with the driving wheel and the driven pulley.
- 5. climbing robot according to claim 4, it is characterised in that the driving wheel and the driven pulley and the shoe Band engagement.
- 6. climbing robot according to claim 1, it is characterised in that climbing robot also includes filling located at the absorption Rest against near with the stator core or the first screening glass of the rotor core side and be in angle with first screening glass The second screening glass set, second screening glass is between the installed part and first screening glass.
- 7. climbing robot according to claim 1, it is characterised in that the climbing robot also includes bindiny mechanism, The number of the unilateral mechanism is two, and the both ends of the bindiny mechanism are connected with two unilateral mechanisms respectively.
- 8. climbing robot according to claim 7, it is characterised in that the bindiny mechanism includes the set in angle A connection piece and the second connector, the size of the angle between first connector and second connector can be adjusted, described First connector is connected with two installed parts respectively with second connector.
- 9. climbing robot according to claim 8, it is characterised in that the bindiny mechanism also includes secured adjusted part, The secured adjusted part includes screw rod, the first nut and the second nut, and the screw rod is arranged in described first be stacked and connected In fitting and second connector, first nut sleeve is located at where second connector on the screw rod Side, second nut sleeve is on the screw rod, and positioned at the side where first connector.
- 10. climbing robot according to claim 7, it is characterised in that the climbing robot also includes cable, described Cable one end is electrically connected with the drive device, and the other end is used to be electrically connected with external equipment, and the cable is with being connected Mechanism or the installed part are fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710764698.8A CN107394971A (en) | 2017-08-30 | 2017-08-30 | Climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710764698.8A CN107394971A (en) | 2017-08-30 | 2017-08-30 | Climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107394971A true CN107394971A (en) | 2017-11-24 |
Family
ID=60348963
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710764698.8A Pending CN107394971A (en) | 2017-08-30 | 2017-08-30 | Climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107394971A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109980861A (en) * | 2019-04-23 | 2019-07-05 | 中广核核电运营有限公司 | Generator maintenance robot |
| CN110011487A (en) * | 2019-04-23 | 2019-07-12 | 中广核核电运营有限公司 | Generator maintenance robot |
| CN110071607A (en) * | 2019-04-23 | 2019-07-30 | 中广核核电运营有限公司 | Generator maintenance robot |
| CN110514969A (en) * | 2019-07-29 | 2019-11-29 | 国网河北省电力有限公司电力科学研究院 | Electricity generator stator core insulation detection device and detection method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109980861A (en) * | 2019-04-23 | 2019-07-05 | 中广核核电运营有限公司 | Generator maintenance robot |
| CN110011487A (en) * | 2019-04-23 | 2019-07-12 | 中广核核电运营有限公司 | Generator maintenance robot |
| CN110071607A (en) * | 2019-04-23 | 2019-07-30 | 中广核核电运营有限公司 | Generator maintenance robot |
| CN110071607B (en) * | 2019-04-23 | 2021-01-26 | 中广核核电运营有限公司 | Generator maintenance robot |
| CN109980861B (en) * | 2019-04-23 | 2021-01-26 | 中广核核电运营有限公司 | Generator maintenance robot |
| CN110514969A (en) * | 2019-07-29 | 2019-11-29 | 国网河北省电力有限公司电力科学研究院 | Electricity generator stator core insulation detection device and detection method |
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Application publication date: 20171124 |
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