CN109677495A - The power drive module of ultrathin climbing robot is detected in generator unit stator thorax - Google Patents
The power drive module of ultrathin climbing robot is detected in generator unit stator thorax Download PDFInfo
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- CN109677495A CN109677495A CN201811568826.2A CN201811568826A CN109677495A CN 109677495 A CN109677495 A CN 109677495A CN 201811568826 A CN201811568826 A CN 201811568826A CN 109677495 A CN109677495 A CN 109677495A
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- drive module
- climbing robot
- generator unit
- ultrathin
- skeleton
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- 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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The present invention provides the power drive module for detecting ultrathin climbing robot in a kind of generator unit stator thorax, drive module skeleton is equipped with rotatable forward and backward crawler driving whell, and crawler tensioning is on forward and backward crawler driving whell；Motor is embedded in drive module skeleton, crawler driving whell and encoder before motor is connected by plug-in gear-box；Permanent magnet is embedded in drive module skeleton bottom by electromagnetic shielding performance liner plate；Elastic support for installing magnetic induction coil is set to drive module skeleton rear end.The present invention provides magnetic attraction using permanent magnet, it hangs on wall-climbing device human body two sides and can be rotated around its longitudinal axis, guarantee that the crawler belt in power drive module is fitted closely with adsorption plane, to make climbing robot be adsorbed in generator unit stator thorax securely and creep before and after the slot wedge in stator thorax, a variety of different tasks are executed.Encoder and line of magnetic induction coil support are integrated in module, for installing magnetic induction coil and providing range information for climbing robot controller.
Description
Technical field
The present invention relates to ultrathin climbing robot is detected in generator unit stator thorax, more specifically, it is fixed to be related to generator
The power drive module of ultrathin climbing robot is detected in sub- thorax.
Background technique
Currently, needing often in industrial production and daily life to some large tanks, tube wall or heavy mechanical equipment
Often compare badly Deng the environment that there is the object of vertical or inclined surface to be detected or be detected a flaw, and carry out these work, or
It is height-limited, it cannot or be not suitable for carrying out direct artificial detection.Climbing robot is a kind of special robot, has and is inclining
Tiltedly, the function that job that requires special skills is carried out under the adverse circumstances such as vertical walls, can be engaged in dangerous, heavy and beyond human effort work
Make.Such as: the cleaning climbing robot that oil tank wall detects in petroleum chemical enterprise, wall machine is climbed in the flaw detection of nuclear equipment detection in nuclear industry
Device people, construction industry curtain cleaning climbing robot on the middle and senior level, welding, derusting, spraying climbing robot in shipbuilding industry.
In power industry, power station equipment is all long usually using the time limit.Generator Set in longtime running by
Lead to stator slot wedge, insulation damages and iron core abrasion in reasons such as aging, vibration, abrasions.If these problems not by and
Shi Faxian will threaten the safe operation of generator, even result in motor operation accident.Therefore, periodically in generator unit stator thorax
The elastic state of the slot wedge in portion, state of insulation and iron core abrasion condition are detected, and are of great significance to motor normal operation.It passes
The detection method of system needs to extract generator amature out, enters generator by people's carrying detection device and detects, needs to consume
Take a large amount of manpower and material resources, and detection cycle is long, during maintenance caused by production suspension induced losses it is larger.Using in generator unit stator thorax
Climbing robot is detected, can be entered in generator unit stator thorax in the case where not extracting generator amature out, it is different by carrying
Detection device detects the performance of generator.
Climbing robot drive module is one of detection climbing robot most critical part in generator unit stator thorax.It is responsible for
Climbing robot is securely adsorbed in generator unit stator thorax, and climbing robot is driven to run.It should guarantee climbing robot
It does not fall down when each orientation is run in stator thorax in the case where carrying various detection devices, guarantees robot crawling again
Flexibility.There are no the climbing robot drive modules for having above-mentioned function in the prior art.
Summary of the invention
It is responsible for climbing robot being securely adsorbed in generator unit stator the technical problem to be solved in the present invention is to provide one kind
In thorax, and climbing robot is driven to run, should guarantee climbing robot in the case where carrying various detection devices in stator
It does not fall down when each orientation is run in thorax, guarantees the climbing robot drive module of the flexibility of robot crawling again.
In order to solve the above-mentioned technical problem, ultra-thin the technical solution of the present invention is to provide being detected in a kind of generator unit stator thorax
The power drive module of type climbing robot, it is characterised in that: including drive module skeleton, drive module skeleton, which is equipped with, to be revolved
The preceding crawler driving whell and rear crawler driving whell turned, crawler tensioning is on preceding crawler driving whell and rear crawler driving whell；Motor is embedding
Enter in drive module skeleton, motor connects plug-in gear-box, crawler driving whell and encoder before plug-in gear-box connects；
The bottom of drive module skeleton is embedded with the liner plate with electromagnetic shielding performance, and permanent magnet is fixed on liner plate；For installing
The elastic support of magnetic induction coil is set to the rear end of drive module skeleton, and drive module skeleton is equipped with for bouncing elastic support
Spring.
Preferably, it is equipped with hollow-out part among the drive module skeleton, before the rear and front end of hollow-out part is respectively equipped with
Crawler driving whell and rear crawler driving whell, the hollow-out part that crawler belt passes through among drive module skeleton cover in preceding crawler driving whell and
Afterwards on crawler driving whell.
Preferably, the preceding crawler driving whell two sides are equipped with preceding guiding axis, and preceding crawler driving whell both ends are by covering leading
Steel bushing insertion on axis is embedded in the bearing in drive module skeleton.
Preferably, the preceding crawler driving whell two sides are equipped with retaining ring.
Preferably, the rear crawler driving whell two sides are equipped with rear guiding axis, and the rear guiding axis at rear crawler driving whell both ends is worn
It is inserted into the waist-shaped hole on drive module skeleton after crossing circular metal block；Pass through lid on the outside of waist-shaped hole on drive module skeleton
Plate capping.
Preferably, the two sides of the crawler belt on drive module skeleton top are equipped with block.
Preferably, the permanent magnet is equipped with eight pieces, and every four pieces of permanent magnets are one group, and two groups of permanent magnets, which are fixed on one piece, to be had
Gear magnetic patch is equipped on the liner plate of electromagnetic shielding performance, among two groups of permanent magnets.
Preferably, the plug-in gear-box is fixed on drive module skeleton side, the drive module skeleton other side and plug-in
The symmetrical position of gear-box is fixed with brass lid.
Preferably, the elastic support is made using polytetrafluoroethylene material.
Preferably, the elastic support connects structure with the cylindrical upper section being relatively large in diameter by the lesser cylindrical lower portion of diameter
At in the hollow out circular hole of cylindrical lower portion insertion drive module skeleton rear end, the hollow out circular hole surrounding setting is used for bullet
Play the spring of the cylindrical upper section of elastic support.
The present invention provides magnetic attraction using permanent magnet, hangs on wall-climbing device human body two sides and can revolve around its longitudinal axis
Turn, guarantees that the crawler belt in power drive module is fitted closely with adsorption plane, so that climbing robot be made to be adsorbed in power generation securely
It creeps in machine stator thorax and before and after the slot wedge in stator thorax, executes a variety of different tasks.Also collect in power drive module
Line of magnetic induction coil support at encoder and with elasticity, for installing magnetic induction coil and being provided for climbing robot controller
Range information.
Detailed description of the invention
Fig. 1 is the top view that ultrathin climbing robot is detected in generator unit stator thorax, illustrate climbing robot and
Head, crossbeam, drive module and tail module；
Fig. 2 is the top view that ultrathin climbing robot frame structure is detected in generator unit stator thorax, illustrates and climbs wall
The frame structure and each section module of robot, including head photographing module, drive module and tail module；
Fig. 3 be detected in generator unit stator thorax provided in this embodiment the power drive module of ultrathin climbing robot with
The topology view of body frame connection；
Fig. 4 is that the power drive module of the ultrathin climbing robot of detection in generator unit stator thorax provided in this embodiment is quick-fried
Fried view.
Specific embodiment
Present invention will be further explained below with reference to specific examples.
Referring to Figures 1 and 2, ultrathin climbing robot is detected in generator unit stator thorax by head photographing module 8, front end branch
Crossbeam 26 is supportted, power drive module 22,23, waist longeron 16, tail support crossbeam 18 and tail portion handle 30 form.Ultrathin type is climbed
Wall robot integrally uses modularized design, and each module can individually split combination.Components are easily installed and replace, while can
The operation that different detection sensors carries out different scopes is replaced according to demand.
Power drive module is generally arranged in pairs, and if power drive module 22,23 is arranged in pairs in Fig. 3, is located at
The two sides of waist longeron 16,22,23 outside of power drive module are equipped with plug-in gear-box 9,10.The rear and front end of waist longeron 16
It is separately connected front support crossbeam 26 and tail support crossbeam 18, two shafts 41 at 26 rear portion of front support crossbeam are inserted into power
Drive module 22,23 front ends counterbore in, two shafts 39 of 18 front of tail support crossbeam are inserted into power drive module 22,23
In the counterbore of rear end, so that each power drive module can rotate certain radian around the shaft, guarantee climbing robot
It can firmly be adsorbed along corresponding radian in non-planar operation.
The present invention relates to the power drive module that ultrathin climbing robot is detected in generator unit stator thorax, conducts
A part of the ultrathin climbing robot detected in stator thorax provides magnetic attraction and driving force for robot at work, collects
At the line of magnetic induction coil support with elasticity on it for installing magnetic induction coil.
Fig. 4 is that the power drive module of the ultrathin climbing robot of detection in generator unit stator thorax provided in this embodiment is shown
It is intended to, the power drive module that ultrathin climbing robot is detected in the generator unit stator thorax includes drive module skeleton
85, hollow-out part is equipped among drive module skeleton 85,52 He of crawler driving whell before the rear and front end of hollow-out part is respectively equipped with
Crawler driving whell 79 afterwards, the hollow-out part that crawler belt 74 passes through among drive module skeleton 85 are covered in preceding crawler driving whell 52 and rear shoe
On band driving wheel 79.
Preceding 52 two sides of crawler driving whell are equipped with preceding guiding axis 27, and preceding 52 both ends of crawler driving whell are by covering in preceding guiding axis 27
On steel bushing 77 insertion be embedded in two bearings 78 of two sides in drive module skeleton 85, guarantee two bearings concentricity and
Rotate flexibility.A retaining ring 4 is respectively installed in preceding 52 two sides of crawler driving whell, and crawler belt drives before retaining ring 4 is fixed on using 3 bolts 62
On driving wheel 52.
79 two sides of crawler driving whell are equipped with rear guiding axis 46 afterwards, and the rear guiding axis 46 at rear 79 both ends of crawler driving whell passes through circle
It is inserted into the waist-shaped hole on drive module skeleton 52 after shape metal backup 75, with two on the outside of the waist-shaped hole on drive module skeleton 52
The small brass lid 1 of block is covered using 4 hexagon socket head cap screws 69.Circular metal block 75 is to crawler driving whell 79 or so after preventing
Sliding.
Respectively there are two blocks 20 for the two sides of 85 upper track 74 of drive module skeleton, they and retaining ring 4 and block 75 are together
For blocking crawler belt 74, prevent crawler belt 74 from skidding off during rotation.
The middle part bottom of each drive module skeleton 85 inlays eight pieces of permanent magnets 35, and every four permanent magnets are one group, fixed
On one block of liner plate 2 with electromagnetic shielding performance in drive module skeleton 85.Liner plate 2 is for shielding above power drive module
Magnetism, prevent to transmission signal interference.It keeps off magnetic patch 3 to be located among two groups of eight pieces of permanent magnets, passes through four dormant bolts 60
It is fixed on liner plate 2.Magnetic circuit for being isolated between adjacent permanent magnet, while certain support is played to crawler belt 74 below and is made
With.
For the width for reducing drive module, motor 34 is using the mounting means in insertion drive module skeleton 85, with driving
Module axis is vertical.Motor 34 is connect by plug-in gear-box 10 with preceding crawler driving whell 52.Plug-in gear-box 10 uses four
Hexagon socket head cap screw 68 is fixed on 85 side of drive module skeleton.85 other side of drive module skeleton and the symmetrical position of plug-in gear-box 10
One piece of brass lid 5 is mounted on drive module skeleton 85 by 4 bolts 73 of use set, to cover bearing 78 and reinforce driving
The intensity of dynamic module framework 52.
Plug-in gear-box 10 is also connect with encoder 32 by gear.Encoder 32 rotates relatively to send with motor 34
The pulse signal answered, controller pass through the real-time range that the pulse signal received calculates climbing robot.
Elastic support 15 for installing the circular hollow of magnetic induction coil is mounted on the rear end of drive module skeleton 85, bullet
Property bracket 15 use wear-resisting polytetrafluoroethylene material, by lower part insertion 85 rear end of drive module skeleton hollow out circular hole in,
Circular hole surrounding places three springs 38, and for bouncing elastic support 15, effect is to guarantee magnetic strength after installing magnetic induction coil
Coil and stator thorax inner wall is answered to be steadily contacted.
It should be understood that up, down, left, right, before and after, front, the back mentioning or may mention in the present specification
The positional terms such as face, top, bottom are defined relative to each construction shown in the drawings, they are opposite concepts,
It is therefore possible to can different location according to locating for it, different use state and correspondingly changed.So also should not be by this
A little or other positional terms are construed to restricted term.
The above, only presently preferred embodiments of the present invention, not to the present invention in any form with substantial limitation,
It should be pointed out that under the premise of not departing from the method for the present invention, can also be made for those skilled in the art
Several improvement and supplement, these are improved and supplement also should be regarded as protection scope of the present invention.All those skilled in the art,
Without departing from the spirit and scope of the present invention, when made using disclosed above technology contents it is a little more
Dynamic, modification and the equivalent variations developed, are equivalent embodiment of the invention；Meanwhile all substantial technologicals pair according to the present invention
The variation, modification and evolution of any equivalent variations made by above-described embodiment, still fall within the range of technical solution of the present invention
It is interior.
Claims (10)
1. detecting the power drive module of ultrathin climbing robot in a kind of generator unit stator thorax, it is characterised in that: including driving
Dynamic module framework (85), drive module skeleton (85) are equipped with rotatable preceding crawler driving whell (52) and rear crawler driving whell
(79), crawler belt (74) is tensioned on preceding crawler driving whell (52) and rear crawler driving whell (79)；Motor (34) is embedded in drive module
In skeleton (85), motor (34) connects plug-in gear-box (10), crawler driving whell (52) and volume before plug-in gear-box (10) connects
Code device (32)；
The bottom of drive module skeleton (85) is embedded with the liner plate (2) with electromagnetic shielding performance, and permanent magnet (35) is fixed on liner plate (2)
On；Elastic support (15) for installing magnetic induction coil is set to the rear end of drive module skeleton (85), drive module skeleton
(85) it is equipped with the spring (38) for bouncing elastic support (15).
2. the power drive module of ultrathin climbing robot is detected in a kind of generator unit stator thorax as described in claim 1,
It is characterized by: hollow-out part is equipped among the drive module skeleton (85), before the rear and front end of hollow-out part is respectively equipped with
Crawler driving whell (52) and rear crawler driving whell (79), crawler belt (74) pass through drive module skeleton (85) intermediate hollow-out part set
On preceding crawler driving whell (52) and rear crawler driving whell (79).
3. the power drive module of ultrathin climbing robot is detected in a kind of generator unit stator thorax as described in claim 1,
It is characterized by: preceding crawler driving whell (52) two sides are equipped with preceding guiding axis (27), preceding crawler driving whell (52) both ends pass through
It covers in the bearing (78) that steel bushing (77) insertion on preceding guiding axis (27) is embedded in drive module skeleton (85).
4. detecting the power drive mould of ultrathin climbing robot in a kind of generator unit stator thorax as claimed in claim 1 or 3
Block, it is characterised in that: preceding crawler driving whell (52) two sides are equipped with retaining ring (4).
5. the power drive module of ultrathin climbing robot is detected in a kind of generator unit stator thorax as described in claim 1,
It is characterized by: crawler driving whell (79) two sides are equipped with rear guiding axis (46) after described, behind rear crawler driving whell (79) both ends
Guiding axis (46) passes through circular metal block (75) and is inserted into the waist-shaped hole on drive module skeleton (52) afterwards；Drive module skeleton
(52) it is covered on the outside of the waist-shaped hole on by cover board.
6. the power drive module of ultrathin climbing robot is detected in a kind of generator unit stator thorax as described in claim 1,
It is characterized by: the two sides of the crawler belt (74) on drive module skeleton (85) top are equipped with block (20).
7. the power drive module of ultrathin climbing robot is detected in a kind of generator unit stator thorax as described in claim 1,
It is characterized by: the permanent magnet (35) is equipped with eight pieces, every four pieces of permanent magnets (35) are one group, and two groups of permanent magnets are fixed on one piece
On liner plate (2) with electromagnetic shielding performance, gear magnetic patch (3) is equipped among two groups of permanent magnets.
8. the power drive module of ultrathin climbing robot is detected in a kind of generator unit stator thorax as described in claim 1,
It is characterized by: the plug-in gear-box (10) is fixed on drive module skeleton (85) side, drive module skeleton (85) is another
Side and the symmetrical position of plug-in gear-box (10) are fixed with brass lid (5).
9. the power drive module of ultrathin climbing robot is detected in a kind of generator unit stator thorax as described in claim 1,
It is characterized by: the elastic support (15) is made using polytetrafluoroethylene material.
10. detecting the power drive mould of ultrathin climbing robot in a kind of generator unit stator thorax as described in claim 1 or 9
Block, it is characterised in that: the elastic support (15) is connected by the lesser cylindrical lower portion of diameter and the cylindrical upper section being relatively large in diameter
Composition is connect, the cylindrical lower portion is inserted into the hollow out circular hole of drive module skeleton (85) rear end, and the hollow out circular hole surrounding is set
Set the spring (38) of the cylindrical upper section for bouncing elastic support (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811568826.2A CN109677495B (en) | 2018-12-21 | 2018-12-21 | Power driving module for detecting ultra-thin wall-climbing robot in generator stator bore |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811568826.2A CN109677495B (en) | 2018-12-21 | 2018-12-21 | Power driving module for detecting ultra-thin wall-climbing robot in generator stator bore |
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| Publication Number | Publication Date |
|---|---|
| CN109677495A true CN109677495A (en) | 2019-04-26 |
| CN109677495B CN109677495B (en) | 2021-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811568826.2A Active CN109677495B (en) | 2018-12-21 | 2018-12-21 | Power driving module for detecting ultra-thin wall-climbing robot in generator stator bore |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111845993A (en) * | 2020-08-21 | 2020-10-30 | 无锡中车时代智能装备有限公司 | Rotor crawling type generator bore detection robot device |
| CN112798238A (en) * | 2020-12-21 | 2021-05-14 | 上海电气电站设备有限公司 | Slot wedge elasticity automatic checkout device |
| CN114104137A (en) * | 2021-12-02 | 2022-03-01 | 上海电气自动化设计研究所有限公司 | Remote control detection vehicle using magnetic adsorption through non-flat ferromagnetic surface |
| CN114148427A (en) * | 2021-12-02 | 2022-03-08 | 上海电气自动化设计研究所有限公司 | Detection wall-climbing robot in generator set chamber without pumping rotor |
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| CN101092151A (en) * | 2007-07-24 | 2007-12-26 | 于复生 | Wall-climbing robot on surface of iron based tank |
| CN102431635A (en) * | 2011-10-25 | 2012-05-02 | 清华大学 | Permanent magnetic adsorption-type crawler traveling mechanism used for underwater crawling machine |
| CN204659852U (en) * | 2015-05-08 | 2015-09-23 | 浙江海洋学院 | A kind of New Marine cleaning loading device |
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| JPH10109862A (en) * | 1996-10-02 | 1998-04-28 | Sooken:Kk | Chair inclined type ascent and descent device |
| CN1375437A (en) * | 2002-04-29 | 2002-10-23 | 清华大学 | Crawler for magnetically adsorbed wall-climbing robot |
| CN101092151A (en) * | 2007-07-24 | 2007-12-26 | 于复生 | Wall-climbing robot on surface of iron based tank |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111845993A (en) * | 2020-08-21 | 2020-10-30 | 无锡中车时代智能装备有限公司 | Rotor crawling type generator bore detection robot device |
| CN111845993B (en) * | 2020-08-21 | 2023-05-09 | 无锡中车时代智能装备研究院有限公司 | Rotor crawling type in-bore detection robot device for generator |
| CN112798238A (en) * | 2020-12-21 | 2021-05-14 | 上海电气电站设备有限公司 | Slot wedge elasticity automatic checkout device |
| CN114104137A (en) * | 2021-12-02 | 2022-03-01 | 上海电气自动化设计研究所有限公司 | Remote control detection vehicle using magnetic adsorption through non-flat ferromagnetic surface |
| CN114148427A (en) * | 2021-12-02 | 2022-03-08 | 上海电气自动化设计研究所有限公司 | Detection wall-climbing robot in generator set chamber without pumping rotor |
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