CN109782171A - A kind of anti-jamming traction device for being detected in generator thorax - Google Patents
A kind of anti-jamming traction device for being detected in generator thorax Download PDFInfo
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- CN109782171A CN109782171A CN201910079110.4A CN201910079110A CN109782171A CN 109782171 A CN109782171 A CN 109782171A CN 201910079110 A CN201910079110 A CN 201910079110A CN 109782171 A CN109782171 A CN 109782171A
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Abstract
The present invention relates to Generator test fields, disclose a kind of anti-jamming traction device for detecting in generator thorax, it includes detection robot (1), traction device (4) are installed in mounting base (2), traction device (4) has two groups, every group of traction device (4) includes traction motor (41), traction wheel (42) and traction rope (43), when detecting robot (1) generation stuck state in generator amature and stator gap, two traction motors (41) alternately control two traction ropes (43) and are detached from stuck state to being pullled at left and right sides of detection robot (1) and control detection robot (1).The application of the present invention realizes automatic operation, thoroughly eliminate adverse effect caused by tow cable, pulsed active attitude method of adjustment applies controllable tractive force to thorax inner machine people by auxiliary traction rope, cause stuck elastic stress by elastically-deformable superposition release, finally excludes the stuck failure of intracavitary robot.
Description
Technical field
The present invention relates to Generator test fields, more particularly to a kind of anti-jamming traction for detecting in generator thorax
Device.
Background technique
Artificial intelligence will be synchronous with great social change, the vigor of industrial upgrading is brought for traditional industries, among these
It certainly include power industry.China's power industry actively expands intelligent robot technology's application, promotes electric power apparatus examination, detection
Technological progress.Each power supply company of national grid subordinate for substation, power transmission line inspection work set up intelligent robot and
Unmanned plane teams and groups replace traditional manual inspection using robot inspection.By taking Shandong Power as an example, using substation inspection machine
After people, inspection frequency promotes 3 times, and manual patrol workload decline 31.4% saves 1.7 hundred million yuan of human cost.Fractional unit is adopted
Traditional artificial detection and cleaning works are replaced with Insulation monitoring child robot and insulator cleaning robot, are not only significantly mentioned
High working efficiency, while also reducing a possibility that safety accident occurs.Spy of the Power Robot as service electric system
Kind robot, will be continuously increased the intelligence degree of national grid, be applied to various special occasions.
Important component of the generating set as electric system, needs efficient stable to run, to guarantee to electric system
Electric power energy is provided incessantly.But state time generator failure happens occasionally at present, and pine in generator thorax is found in maintenance
The security risks such as dynamic, overheat, insulation abrasion, electric discharge are relatively more, are easy to happen pernicious failure.In addition, part generator is run
In expose familial defect, need to check in interim arrangements thorax with batch or with model.Therefore, domestic each electricity power enterprise will determine
Phase or irregularly important measures of the generator maintenance as prevention generator accident, ensure unit safety reliability service.Currently,
The Generator test mode in China is that extraction rotor carries out artificial detection, and this tradition maintenance model is long there are the time between overhauls(TBO), examines
Survey low efficiency, great work intensity, it is costly the disadvantages of, and have certain equipment dismounting risk.In recent years, the flourishing state such as America and Europe
Family develops a kind of generator intelligence thorax inner machine people's detection system for not needing extraction rotor, for instead preceding artificial inspection
Survey mode, and obtain preferable application effect.Since insufficient investment is studied in this regard by the country, offshore company carries out skill to China
Art block, does not sell detection device, only provides detection service, to collect high service fee.Therefore, the application is for the country
Large-scale generator Detection task weight, the statuses such as unit model is various, operating condition is complicated, it is desirable to research and develop and a kind of have stronger applicability
Intelligent electric power robotic equipment for detecting in generator thorax fills up domestic technique blank, realizes that large-scale generator is not taken out and turns
Detection in sub- thorax rationally extends generator and takes out rotor inspection cycle, provides convenient generator inspection for electricity power enterprise, group
Evaluation services are looked into, find and eliminate hidden trouble of equipment early, prevent the generation of serious accident.Intelligent robot is examined in the generator thorax
The mature application for surveying device helps to improve working efficiency, effectively shortens the repair time, reduces the cost of overhaul, promotes electricity power enterprise
Economic benefit.
In actual operation, when not taking out rotor, gap between generator rotor and stator only 5cm, thorax inner machine
People's thickness about 3cm is easy to happen stuck situation in thorax so the movable space of robot is minimum.In addition, robot with line
Cable includes supply lines and all kinds of control lines, and as robot gos deep into what inner cavity was run, tow cable causes robot operation
Adverse effect will constantly increase.It passs currently, existing product is all made of manual type, send thorax inner machine people retinue cable, reduce
The adverse effect that dragging cable runs robot.When stuck failure in robot thorax occurs, existing product equally posts hope
It debugs by way of being drawn manual type, dragging retinue cable.There are very big drawbacks for this kind of way: 1) operation of worker
When narrow space, especially lower half circle generator tooth socket detect, worker is difficult to effectively pass, send retinue cable, furthermore artificial behaviour
It is synchronous to be difficult to ensure that delivering cable is run with robot, therefore the stress generated on cable will affect thorax inner machine people fortune
Row, to increase the occurrence probability of the stuck failure of robot；2) it when stuck failure occurs, manually draws, drag cable both inspections easy to damage
Survey robot easily causes generator inner cavity to damage again, and the faulty operation of worker also brings along the risk of " the more drawing the more dead ", finally draws
Play serious production accident.
Summary of the invention
The present invention provides a kind of for generator thorax for the shortcomings that can not automatically terminating stuck state in the prior art
The anti-jamming traction device of interior detection.
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals:
A kind of anti-jamming traction device for being detected in generator thorax, including the inspection for detected in generator thorax
Robot to be surveyed, further includes retinue cable, retinue cable is connect with the detection robot probeed into generator amature and stator gap,
It further include the mounting base being mounted on generator amature end, retinue cable passes through mounting base and connect with detection robot, pacifies
Traction device is installed on dress seat, traction device there are two groups, and two groups of traction devices are symmetrically mounted on the left and right sides of mounting base, often
Group traction device includes traction motor, traction wheel and traction rope, and traction wheel connect with traction motor and driven by traction motor
Rotation, the inner end of traction rope are packed on traction wheel, and the traction rope outer end in two groups of traction devices is separately fixed at detection machine
The left and right sides of people, the traction rope in two groups of traction devices driven by traction wheel and respectively to the left and right ends of detection robot into
Row is pullled, and the left and right sides that detection robot is connect with traction rope is respectively defined as traction left end and draws right end, two tractions
The distance between wheel is less than the distance between traction left end and traction right end, when detection robot is between generator amature and stator
When stuck state occurring in gap, two traction motors alternately control traction left end and traction of two traction ropes to detection robot
Right end, which is pullled and controls detection robot, is detached from stuck state.
Preferably, two traction ropes are symmetrical arranged about detection robot central axes, the angle of traction rope between two
It is 0 °~30 °.
It further include driving preferably, being equipped with driving motor in mounting base and driving the driving wheel of rotation by driving motor
Moving axis is equipped with the driving wheel with driving wheel cooperation in drive shaft, is also fixed with worm screw in drive shaft, is equipped in mounting base dynamic
Wheels, power wheel have multiple, and power wheel and worm screw rotate with merging to be driven by worm screw, and power wheel cable contact and drives with accompanying
The movement of retinue cable.
Preferably, being also equipped with regulating wheel in mounting base, there are three power wheels, and there are three and with power wheels one for regulating wheel
One is corresponding, and it further includes the position adjusting knob being mounted in mounting base that retinue cable, which is clamped between power wheel and regulating wheel,.
Preferably, be also equipped with wire support in mounting base, wire support at least one, wire support is equipped with and leads
String holes, the wire guide on different conductor bracket are arranged along straight line, and retinue cable and wire guide fit through wire guide setting；Also
Including conducting wire mouth, conducting wire mouth be mounted on the outer end of mounting base and will retinue cable introduce mounting base in, conducting wire mouth be it is tubaeform, lead
One end of line mouth is mounted in mounting base, and the other end of conducting wire mouth is horn mouth and is arranged outward.
Preferably, further including controller, controller connect with traction motor and controls the rotation of traction motor.
Preferably, further including the constraint chain being mounted on engine rotor, mounting base is packed on constraint chain and and beam
It ties up chain and an annular collar is collectively formed, constraint chain includes constraint chain piece interconnected and adjusting bracket, mounting base and adjusting
It is hinged by constraint chain piece between bracket.
Preferably, adjusting bracket includes successively hinged first support, connection frame and second support, first
One end that one end and second support that frame is connect with connection frame are connect with connection frame is defined as restrained end, first support it is another
The other end of one end and second support is defined as free end, is separately installed on the free end of first support and second support
One axis and the second axis, first support and second support pass through first axle and the second axis respectively and constraint chain piece is hinged, further include tool
There is the adjustable plate of Telescopic, the both ends of adjustable plate are hinged with first axle and the second axis respectively, and adjustable plate passes through extension and contraction control tune
Save the width of bracket.
Preferably, adjustable plate includes left backplate, right backplate and the connection sheet for connecting left backplate and right backplate, connection sheet
It is equipped with U-type groove, left backplate and/or right backplate are equipped with screw, slide and lock in U-type groove by screw to control to adjust
The collapsing length of plate.
Preferably, installing the guide rail extended in oriented generator thorax in mounting base, Robot guide rail is detected to power generation
It is moved in machine thorax.
The present invention is due to using above technical scheme, and have significant technical effect: the application is automatic by controller
It completes intracavitary synchronizing for cable of robot retinue pass, send, eliminates the adverse effect that tow cable runs robot；Work as generation cavity
When interior stuck failure, control strategy debugging is adjusted by pulsed active attitude, reduces detection risk.The application realizes certainly
Dynamicization operation, eliminates the influence of artificial factor, can more accurately realize cable delivering and the synchronous control before robot operation
System thoroughly eliminates adverse effect caused by tow cable, and pulsed active attitude method of adjustment is by auxiliary traction rope in thorax
Robot applies controllable tractive force, causes stuck elastic stress by elastically-deformable superposition release, finally excludes intracavitary machine
The stuck failure of device people.The pulsed traction power that this method applies is controllable in real time, can be significantly increased the probability for excluding stuck failure, and from
Fundamentally eliminate the risk of " the more drawing the more dead ".
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is top view of the invention.
Fig. 3 is the structural schematic diagram of the mounting base of Fig. 1.
Fig. 4 is the structural schematic diagram of the constraint chain of Fig. 1.
The toponym that each number designation is referred in attached drawing is as follows: 1-detection robot, 2-mounting bases, 3-retinues
Cable, 4-traction devices, 5-controllers, 6-constraint chains, 11-traction left ends, 12-traction right ends, 21-driving motors,
22-driving wheels, 23-drive shafts, 24-driving wheels, 25-worm screws, 26-power wheels, 27-regulating wheels, 28-conducting wire mouths,
29-wire supports, 291-wire guides, 41-traction motors, 42-traction wheels, 43-traction ropes, 61-constraint chain pieces, 62-
Adjusting bracket, 621-first supports, 6211-first axles, 622-second supports, the 6221-the second axis, 623-connection frames,
624-adjustable plates, 63-idler wheels.
Specific embodiment
Present invention is further described in detail with embodiment with reference to the accompanying drawing.
Embodiment 1
A kind of anti-jamming traction device for being detected in generator thorax, as shown, including for carrying out generator thorax
The detection robot 1 of interior detection, further includes retinue cable 3, and retinue and probes into the inspection in generator amature and stator gap at cable 3
Survey robot 1 connect, further include the mounting base 2 being mounted on generator amature end, retinue cable 3 pass through mounting base 2 and with
It detects robot 1 to connect, traction device 4 is installed in mounting base 2, traction device 4 has two groups, and two groups of traction devices 4 are symmetrically pacified
Mounted in the left and right sides of mounting base 2, every group of traction device 4 includes traction motor 41, traction wheel 42 and traction rope 43, traction wheel
42 connect with traction motor 41 and drive rotation by traction motor 41, and the inner end of traction rope 43 is packed on traction wheel 42, and two groups
43 outer end of traction rope in traction device 4 is separately fixed at the left and right sides of detection robot 1, leading in two groups of traction devices 4
Messenger 43 is driven by traction wheel 42 and is pullled respectively the left and right ends of detection robot 1, detects robot 1 and traction rope
The left and right sides of 43 connections is respectively defined as traction left end 11 and draws right end 12, and the distance between two traction wheels 42, which are less than, to be led
Draw the distance between left end 11 and traction right end 2, when stuck shape occurs in generator amature and stator gap for detection robot 1
When state, two traction motors 41 alternately control the traction left end 11 and traction right end 12 of two traction ropes, 43 pairs of detection robots 1
It is pullled and controls detection robot 1 and be detached from stuck state.
Two traction ropes 43 are symmetrical arranged about detection 1 central axes of robot, and the angle of traction rope 43 is 0 ° between two
~30 °.
Driving motor 21 is installed in mounting base 2 and drives the driving wheel 22 of rotation by driving motor 21, further includes driving
Axis 23 is equipped with the driving wheel 24 cooperated with driving wheel 22 in drive shaft 23, is also fixed with worm screw 25, mounting base in drive shaft 23
Power wheel 26 is installed, power wheel 26 has multiple, and power wheel 26 and worm screw 25 drive rotation, power by worm screw 25 with merging on 2
Wheel 26 contacts with retinue cable 3 and drives the movement of retinue cable 3.
Regulating wheel 27 is also equipped in mounting base 2, there are three power wheels 26, and there are three and with power wheels 26 1 for regulating wheel 27
One is corresponding, and retinue cable 3 is clamped between power wheel 26 and regulating wheel 27, further includes that the position being mounted in mounting base 2 is adjusted
Knob, regulating wheel 27 are mounted in mounting base 2 by pedestal, and position adjusting knob connect with pedestal and control the position of pedestal,
When clockwise rotated position adjusting knob, pedestal will drive regulating wheel and power wheel mobile to the direction for clamping retinue cable；It is inverse
Hour hands rotation position adjusting knob, mounting base will be mobile to the direction for unclamping retinue cable (two sides).
Wire support 29 is also equipped in mounting base 2, there are three wire supports 29, and wire support 29 is equipped with wire guide
291, the wire guide 291 on different conductor bracket 29 is arranged along straight line, and retinue cable 3 and wire guide 291 fit through conducting wire
Hole 291 is arranged, and the one end of mounting base 2 in generator thorax is inner end, and the other end is outer end, and wire support 29 is distributed in installation
Inner and outer ends and middle part inside seat 2；It further include conducting wire mouth 28, conducting wire mouth 28 is mounted on the outer end of mounting base 2 and will retinue
Cable 3 introduce mounting base 2 in, conducting wire mouth 28 be it is tubaeform, one end of conducting wire mouth 28 is mounted in mounting base 2, conducting wire mouth 28
The other end is horn mouth and is arranged outward that conducting wire mouth 28 is connect with the wire support 29 for being located at 2 inside of mounting base.
It further include controller 5, controller 5 connect with traction motor 41 and controls the rotation of traction motor 41.Controller 5
Stuck state whether occurs in motor thorax according to detection robot 1, controls the rotation of traction motor 41.
When operating normally, traction motor 41 is in torque control pattern, and provided torque will be realized: detection robot
When 1 advance, auxiliary traction line is made to have some tension；When detecting the retrogressing of robot 1, by the storage of auxiliary traction line 43 to line storage wheel
In 42.Under stuck state, controller 5 controls two auxiliary traction motors 41 and replaces output duration, torque size
The pulsed tractive force of control excludes the detection intracavitary stuck failure of robot 1.
Controller 5 connects anti-jamming traction device by control interface, controls all kinds of motors and indicator light.Indicator light will be anti-
Reflect the current working status of device.Controller 5 can obtain the location information of detection robot 1, complete to accompany by signal processing
The synchronously control of cable 3 and detection robot 1.
When generator inner cavity is run, detection robot 1 is adsorbed on inner wall, guarantees advance side by backplate and steamboat
To.When gap is reasonable before backplate, steamboat wheel and stator tooth socket, detection robot 1 can smoothly pass in and out engine inner chamber；When
When gap changes, is less than limiting value, detection robot 1 can have the risk of " stuck " in tooth socket.According to the mechanics of materials,
When mechanical " stuck " has just occurred, what two object contacts site occurred must be elastic deformation, and elastic stress is to cause mechanical card
Dead reason.
The main method for excluding " stuck " failure is that operation detection robot 1 is out of service, has been produced by tractive force elimination
Raw elastic stress restores the deformation of mechanical part, and adjusts gap and reach normal range (NR).But it if is drawn by manpower
Pull traction rope, it is most likely that improperly tractive force is generated, aggravates the elastic deformation of mechanical structure, accumulates elastic stress constantly,
Increase the difficulty of debugging.
Therefore, it is proposed to a kind of pulsed active attitude method of adjustment.When generation " stuck " failure, stop detection rapidly
Robot 1, two are fixed on the auxiliary traction rope 43 of 1 left and right sides of detection robot, equal with a duration, torque size
Controllable radial direction torque N alternately pulls auxiliary traction rope 43, and two traction ropes 43 in left and right are respectively defined as traction rope A and traction
Restrict B, constantly generates new contrary elastic deformation A ' and B '.Since the duration of draw operations is shorter, material is answered
Variable Rate can be considered constant, and the torque for guaranteeing that A, B traction rope 43 is applied in detection robot 1 is equal, and rationally controls this power
The size of square and duration, the hardening phenomenon of material will will lead to the elastic deformation A ' for changing direction in the same direction with original shape and be less than and former
The reversed elastic deformation B ' in deformation direction.Finally, continue alternately to apply radial torque N on 43 messengers by the way that in A, B auxiliary is led, newly
The elastic deformation of generation and the elastic deformation of stall is caused constantly to be superimposed, causes the elastic stress of " stuck " that will be released, " card
Extremely " failure is finally excluded.According to control theory, radial torque N need to meet the following conditions: 1) in order to guarantee elastic deformation A ' and
The time of the symmetry of B ', the radial torque N applied every time must be equal；2) in order to preferably complete deformation superposition, alternating is applied
The interval time for being added on A, B draught line 43 needs shorter (ms grades)；3) elastic pole of the size of radial torque N no more than material
Limit；4) radial direction torque N applies (duration is short) in a pulsed fashion, and this mode is conducive to exclude " stuck " failure, and can prevent
Only apply " stuck " aggravation situation caused by torque overlong time.In subsequent work, the characteristic for using material is explored, is applied
Size, duration and the setting principle of interval time of torque N designs corresponding traction device, increases system and excludes detection
The probability of intracavitary " stuck " failure of robot 1.
It further include the constraint chain 6 being mounted on engine rotor, mounting base 2 is packed on constraint chain 6 and is total to constraint chain 6
With an annular collar is formed, constraint chain 6 includes constraint chain piece 61 interconnected and adjusting bracket 62, and constraint chain piece 61 has three
A, there are two adjusting brackets 62, hinged by constraint chain piece 61 between mounting base 2 and adjusting bracket 62.
Adjusting bracket 62 includes successively hinged first support 621, connection frame 623 and second support 622, and first
One end that one end and second support 622 that bracket 621 is connect with connection frame 623 are connect with connection frame 623 is defined as constraining
End, the other end of first support 621 and the other end of second support 622 are defined as free end, first support 621 and second
First axle 6211 and the second axis 6221 are separately installed on the free end of frame 622, first support 621 and second support 622 are distinguished
It is hinged by first axle 6211 and the second axis 621 and constraint chain piece 61, further include the adjustable plate 624 with Telescopic, adjusts
The both ends of plate 624 are hinged with first axle 6211 and the second axis 6221 respectively, first support 621, connection frame 623 and second support
622 form an arc-like sheet, and adjustable plate 624 passes through the width of extension and contraction control adjusting bracket 62, i.e. first support 621, connection frame
623 and second support 622 formed arc-like sheet be wrapped in the cambered surface on generator amature.The main function of adjusting bracket 62 is to adjust
The binding force haircuted on rotor and prevent mounting base 2 from shifting in rotary motion.Component is adjusted when changing binding force
When, adjustment bracket 62 will swell or decline, to guarantee structural stability.Chain 6 is fettered, rotor end bell outer rim is fixed on, prevents
Mounting base 2 shifts when mobile, influences the distance of guide rail and bore of stator face.
Idler wheel 63 is installed on articulated shaft between mounting base 2, constraint chain piece 61 and adjusting bracket 62, prevents mounting base 2
Rotor end bell is scratched when operation.
Adjustable plate 624 includes left backplate, right backplate and the connection sheet for connecting left backplate and right backplate, and connection sheet is equipped with
U-type groove, left backplate and/or right backplate are equipped with screw, are slided and are locked in U-type groove by screw to control to adjust plate 624
Collapsing length.Screw fit has nut, when screw slides into suitable position, is carried out left backplate and right backplate by nut
Locking.
The guide rail extended in oriented generator thorax is installed, detection robot 1 is moved along guide rail into generator thorax in mounting base 2
It is dynamic.
In short, the foregoing is merely presently preferred embodiments of the present invention, it is all according to equalization made by scope of the present invention patent
Variation and modification, shall all be covered by the patent of the invention.
Claims (10)
1. a kind of anti-jamming traction device for being detected in generator thorax, including the detection for detected in generator thorax
Robot (1), it is characterised in that: further include retinue cable (3), accompany cable (3) and probe into generator amature and stator gap
In detection robot (1) connection, further include the mounting base (2) being mounted on generator amature end, retinue cable (3) pass through
Mounting base (2) is simultaneously connect with detection robot (1), is equipped in mounting base (2) traction device (4), traction device (4) has two
Group, two groups of traction devices (4) are symmetrically mounted on the left and right sides of mounting base (2), and every group of traction device (4) includes traction motor
(41), traction wheel (42) and traction rope (43), traction wheel (42) connect with traction motor (41) and are driven by traction motor (41)
Rotation, the inner end of traction rope (43) are packed on traction wheel (42), traction rope (43) the outer end difference in two groups of traction devices (4)
It is fixed on the left and right sides of detection robot (1), the traction rope (43) in two groups of traction devices (4) is driven simultaneously by traction wheel (42)
The left and right ends of detection robot (1) are pullled respectively, the left and right sides that detection robot (1) is connect with traction rope (43)
It is respectively defined as traction left end (11) and draws right end (12), the distance between two traction wheels (42) are less than traction left end (11)
The distance between traction right end (12), when in generator amature and stator gap stuck state occurs for detection robot (1)
When, two traction motors (41) alternately control two traction ropes (43) to the traction left end (11) of detection robot (1) and traction
Right end (12), which is pullled and controls detection robot (1), is detached from stuck state.
2. a kind of anti-jamming traction device for being detected in generator thorax according to claim 1, it is characterised in that: two
Root traction rope (43) is symmetrical arranged about detection robot (1) central axes, between two the angle of traction rope (43) be 0 °~
30°。
3. a kind of anti-jamming traction device for being detected in generator thorax according to claim 1, it is characterised in that: peace
Driving motor (21) is installed in dress seat (2) and drives the driving wheel (22) of rotation by driving motor (21), further includes drive shaft
(23), the driving wheel (24) with driving wheel (22) cooperation is installed, drive shaft is also fixed with worm screw on (23) in drive shaft (23)
(25), it is equipped with power wheel (26) in mounting base (2), power wheel (26) has multiple, and power wheel (26) and worm screw (25) are with merging
It is driven and is rotated by worm screw (25), power wheel (26) contacts with retinue cable (3) and drives the movement of retinue cable (3).
4. a kind of anti-jamming traction device for being detected in generator thorax according to claim 3, it is characterised in that: peace
It is also equipped with regulating wheel (27) on dress seat (2), there are three power wheels (26), and there are three and with power wheels (26) one for regulating wheel (27)
One is corresponding, and retinue cable (3) is clamped between power wheel (26) and regulating wheel (27).
5. a kind of anti-jamming traction device for being detected in generator thorax according to claim 1, it is characterised in that: peace
Dress seat (2) in is also equipped with wire support (29), wire support (29) at least one, wire support (29) be equipped with wire guide
(291), the wire guide (291) on different conductor bracket (29) is arranged along straight line, and retinue cable (3) and wire guide (291) cooperate
And it passes through wire guide (291) and is arranged；It further include conducting wire mouth (28), conducting wire mouth (28) is mounted on the outer end of mounting base (2) and will be with
Line cable (3) introduce mounting base (2) in, conducting wire mouth (28) be it is tubaeform, one end of conducting wire mouth (28) is mounted on mounting base (2)
On, the other end of conducting wire mouth (28) is horn mouth and is arranged outward.
6. a kind of anti-jamming traction device for being detected in generator thorax according to claim 1, it is characterised in that: also
Including controller (5), controller (5) connect with traction motor (41) and controls the rotation of traction motor (41).
7. a kind of anti-jamming traction device for being detected in generator thorax according to claim 1, it is characterised in that: also
Including the constraint chain (6) being mounted on engine rotor, mounting base (2) is packed in constraint chain (6) and and fetters chain (6) jointly
An annular collar is formed, constraint chain (6) includes constraint chain piece (61) interconnected and adjusting bracket (62), mounting base (2)
It is hinged by constraint chain piece (61) between adjusting bracket (62).
8. a kind of anti-jamming traction device for being detected in generator thorax according to claim 7, it is characterised in that: adjust
Section bracket (62) includes successively hinged first support (621), connection frame (623) and second support (622), and first
One end that one end and second support (622) that frame (621) is connect with connection frame (623) are connect with connection frame (623) defines
For restrained end, the other end of first support (621) and the other end of second support (622) are defined as free end, first support
(621) and on the free end of second support (622) first axle (6211) and the second axis (6221), first support are separately installed with
(621) and second support (622) by first axle (6211) and the second axis (621) and fetters chain piece (61) hingedly respectively, also wraps
Include the adjustable plate (624) with Telescopic, the both ends of adjustable plate (624) respectively with first axle (6211) and the second axis (6221)
Hingedly, adjustable plate (624) passes through the width of extension and contraction control adjusting bracket (62).
9. a kind of anti-jamming traction device for being detected in generator thorax according to claim 8, it is characterised in that: adjust
Section plate (624) includes left backplate, right backplate and the connection sheet for connecting left backplate and right backplate, and connection sheet is equipped with U-type groove, left
Backplate and/or right backplate are equipped with screw, are slided and are locked in U-type groove by screw to control to adjust the flexible of plate (624)
Length.
10. a kind of anti-jamming traction device for being detected in generator thorax according to claim 1, it is characterised in that:
The guide rail extended in oriented generator thorax is installed, detection robot (1) is moved along guide rail into generator thorax in mounting base (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910079110.4A CN109782171B (en) | 2019-01-28 | 2019-01-28 | Anti-blocking traction device for detection in generator chamber |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910079110.4A CN109782171B (en) | 2019-01-28 | 2019-01-28 | Anti-blocking traction device for detection in generator chamber |
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| Publication Number | Publication Date |
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| CN109782171A true CN109782171A (en) | 2019-05-21 |
| CN109782171B CN109782171B (en) | 2020-10-23 |
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| CN201910079110.4A Active CN109782171B (en) | 2019-01-28 | 2019-01-28 | Anti-blocking traction device for detection in generator chamber |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| CN109782171B (en) | 2020-10-23 |
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