CN110011487B - Generator maintenance robot - Google Patents
Generator maintenance robot Download PDFInfo
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- CN110011487B CN110011487B CN201910326390.4A CN201910326390A CN110011487B CN 110011487 B CN110011487 B CN 110011487B CN 201910326390 A CN201910326390 A CN 201910326390A CN 110011487 B CN110011487 B CN 110011487B
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- 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
- H02K15/0006—Disassembling, repairing or modifying dynamo-electric machines
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- 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
- H02K15/02—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies
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- Manufacture Of Motors, Generators (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention relates to a generator maintenance robot, comprising: a drive device; the rigid transmission mechanism is in transmission connection with the driving device; the bearing mechanism is assembled on the transmission mechanism and used for bearing an overhauling tool for overhauling the generator; the driving device can drive the transmission mechanism to drive the bearing mechanism to enter an air gap between a rotor and a stator of the generator from the outside, and the bearing mechanism can move in the air gap along the axial direction and/or the circumferential direction of the generator. When the generator needs to be overhauled, the driving device drives the transmission mechanism to drive the bearing mechanism to enter an air gap between the rotor and the stator, and an overhauling tool assembled on the bearing mechanism carries out overhauling work on a stator slot wedge and a rotor slot wedge of the generator, so that the rotor does not need to be drawn out of the stator and then enters a stator chamber for overhauling by workers, and time and labor are saved; and the generator can not be damaged due to no collision in the maintenance process.
Description
Technical Field
The invention relates to the technical field of electric overhaul, in particular to a generator overhaul robot.
Background
The generator includes stator and rotor, and in the stator was worn to locate by the rotor, after the generator put into use, need regularly to overhaul the work to the generator to ensure the normal use of generator.
The tradition overhauls the during operation to the generator, outside taking the stator out with the rotor usually, overhauls in getting into the stator thorax by the staff again, wears to locate the stator with the rotor after overhauing the completion in, so need drop into a large amount of manpower and materials, and it is longer to consume time, is simultaneously taking out the in-process that wears still can bump and damage the generator.
Disclosure of Invention
Based on this, it is necessary to provide a labour saving and time saving's generator maintenance robot to the problem that traditional maintenance generator was wasted time and energy.
A generator servicing robot comprising:
a drive device;
the rigid transmission mechanism is in transmission connection with the driving device;
the bearing mechanism is assembled on the transmission mechanism and used for bearing an overhauling tool for overhauling the generator;
the driving device can drive the transmission mechanism to drive the bearing mechanism to enter an air gap between a rotor and a stator of the generator from the outside, and the bearing mechanism can move in the air gap along the axial direction and/or the circumferential direction of the generator.
According to the generator overhauling robot, when the generator needs to be overhauled, the driving device drives the transmission mechanism to drive the bearing mechanism to enter the air gap between the rotor and the stator, the overhauling tool assembled on the bearing mechanism can overhaul the stator slot wedge and the rotor slot wedge of the generator, the rotor does not need to be drawn out of the stator and then enters the stator chamber for overhauling by workers, and time and labor are saved; in addition, collision cannot occur in the maintenance process, and the generator cannot be damaged; meanwhile, the rigid transmission mechanism has higher strength and still has higher bearing performance when the rigid transmission mechanism extends into the air gap between the rotor and the stator for a longer length so as to prevent the bearing mechanism from sagging.
In one embodiment, the driving device comprises a circumferential driving mechanism and an axial driving mechanism, the axial driving mechanism is assembled on the circumferential driving mechanism, and the transmission mechanism is connected with the axial driving mechanism;
the circumferential driving mechanism is used for driving the axial driving mechanism to drive the transmission mechanism and the bearing mechanism to rotate along the circumferential direction of the generator, and the axial driving mechanism is used for driving the transmission mechanism to drive the bearing mechanism to move along the axial direction of the generator.
In one embodiment, the circumferential driving mechanism is sleeved on a portion of the rotor extending out of the stator, and the circumferential driving mechanism can rotate relative to the rotor along the circumferential direction of the generator.
In one embodiment, the circumferential driving mechanism comprises a circumferential rotating motor, a roller, a first half shell and a second half shell, the first half shell and the second half shell are sleeved outside the rotor in an abutting mode to form a shell, the circumferential rotating motor and the roller are arranged between the shell and the rotor, and the circumferential rotating motor moves to drive the roller and the shell to rotate along the circumferential direction of the generator;
wherein, the axial driving mechanism is fixedly connected with the shell.
In one embodiment, the axial direction of the rotor is parallel to the axial direction of the rotor, and the axial direction of the rotor is parallel to the axial direction of the rotor.
In one embodiment, the rotor further comprises a protective layer disposed between the intermediate member and the rotor.
In one embodiment, the generator further comprises a transmission mechanism, the transmission mechanism is arranged between the axial driving mechanism and the transmission mechanism in a transmission manner, and the axial driving mechanism drives the transmission mechanism to move along the axial direction of the generator through the transmission mechanism.
In one embodiment, the transmission mechanism comprises a gear and a rack which are meshed with each other, the gear is connected with the axial driving mechanism, and the rack is connected with the transmission mechanism.
In one embodiment, the axial driving mechanism includes a first supporting member and an axial driving motor, one end of the first supporting member is fixedly connected to the circumferential driving mechanism, the axial driving motor is assembled to the other end of the first supporting member, and the axial driving motor drives the transmission mechanism to drive the bearing mechanism to move along the axial direction of the generator.
In one embodiment, the device further comprises a limiting mechanism, the transmission mechanism is clamped in the middle of the limiting mechanism, and the limiting mechanism is used for limiting the axial inclination of the transmission mechanism relative to the generator.
In one embodiment, the transmission mechanism includes two first transmission rods and at least two second transmission rods, the two first transmission rods extend along the axial direction of the generator and are arranged at intervals, and two ends of the at least two second transmission rods are respectively connected with the two first transmission rods and are arranged at intervals.
In one embodiment, the carrying mechanism includes a first half-carrier and a second half-carrier, and the first half-carrier are butt-clamped on the transport mechanism to form the carrying mechanism.
In one embodiment, the stator further comprises a controllable telescopic second supporting piece and a rolling piece, one end of the second supporting piece is fixedly connected with the bearing mechanism, the rolling piece is installed at the suspended end of the second supporting piece, and the second supporting piece is abutted to the inner wall of the stator and/or the outer wall of the rotor through the rolling piece.
Drawings
Fig. 1 is a structural diagram of a generator maintenance robot according to an embodiment of the present invention when a generator is maintained;
FIG. 2 is a schematic view of a portion of the generator shown in FIG. 1;
fig. 3 is a top view of the generator servicing robot shown in fig. 1.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, before describing the generator maintenance robot 100 in detail, first, a simple description is made on a part of the structure of the generator to help understanding the technical solution of the present invention.
Referring to fig. 2, the generator includes a stator 200 and a rotor 300 disposed in the stator 200, an air gap 400 is formed between the stator 200 and the rotor 300, and the rotor 300 can rotate around a central axis in the stator 200. The stator 200 includes a stator core 201, a stator coil 202, and a stator slot wedge 203, the stator core 201 is provided with a first coil slot 204, the stator coil 202 is provided in the first coil slot 204, the stator slot wedge 203 presses the stator coil 202 in the first coil slot 204, and a stator bar 205 is formed at a position where the first coil slot 204 is not provided in the stator core 201. Specifically, the first coil slot 204 extends in the axial direction of the generator, that is, the first coil slot 204 extends from one end to the other end in the axial direction of the stator core 201.
More specifically, the number of the first coil slots 204 is at least two, at least two first coil slots 204 are arranged at intervals in the circumferential direction of the generator, the number of the stator coils 202 and the stator slot wedges 203 corresponds to the number of the first coil slots 204, each stator coil 202 is arranged in the corresponding first coil slot 204, each stator slot wedge 203 compresses the corresponding stator coil 202 in the corresponding first coil slot 204, and thus the stator core 201 includes at least two stator bars 205 arranged at intervals in the circumferential direction of the generator.
The rotor 300 comprises a rotor core 301, a rotor coil 302 and a rotor slot wedge 303, wherein a second coil slot 304 is formed in the rotor core 301, the rotor core 301 is arranged in the second coil slot 304, the rotor slot wedge 303 compresses the rotor coil 302 in the second coil slot 304, and a rotor iron bar 305 is formed at a position where the second coil slot 304 is not formed in the rotor core 301. Specifically, the second coil slots 304 extend in the axial direction of the generator, that is, the second coil slots 304 extend from one end to the other end in the axial direction of the rotor core 301.
More specifically, the number of the second coil slots 304 is at least two, the at least two second coil slots 304 are arranged at intervals along the circumferential direction of the generator, the number of the rotor coils 302 and the rotor slot wedges 303 corresponds to the number of the second coil slots 304, each rotor coil 302 is arranged in the corresponding second coil slot 304, each rotor slot wedge 303 compresses the corresponding rotor coil 302 in the corresponding second coil slot 304, and thus the rotor core 301 includes at least two rotor bars 305 arranged at intervals along the circumferential direction of the generator.
The generator maintenance robot 100 according to the embodiment of the present invention can perform maintenance on the stator slot wedges 203 and the rotor slot wedges 303, which will be described in detail below.
Referring to fig. 1, the generator maintenance robot 100 includes a driving device, a rigid transmission mechanism 20 and a bearing mechanism 30, the transmission mechanism 20 is in transmission connection with the driving device, the bearing mechanism 30 is coupled to the transmission mechanism 20, the driving mechanism is configured to drive the transmission mechanism 20 to drive the bearing mechanism 30 to enter an air gap 400 between a stator 200 and a rotor 300 from the outside, and to enable the bearing mechanism 30 to move in the air gap along the axial direction and/or the circumferential direction of the generator, the bearing mechanism 30 is configured to bear an maintenance tool for maintaining the generator, and when the bearing mechanism 30 bears the maintenance tool and enters the air gap 400, maintenance work can be performed on a stator slot wedge 203 and a rotor slot wedge 303.
According to the generator overhauling robot 100 provided by the embodiment of the invention, when the generator needs to be overhauled, the driving device drives the transmission mechanism 20 to drive the bearing mechanism 30 to enter the air gap 400 between the rotor 300 and the stator 200, and the overhauling tool assembled on the bearing mechanism 30 can overhaul the stator slot wedge 203 and the rotor slot wedge 303 of the generator without drawing the rotor 300 out of the stator 200 and then entering a stator chamber for overhauling by a worker, so that time and labor are saved; the collision can not occur in the maintenance process, and the generator can not be damaged; meanwhile, the rigid transmission mechanism 20 has high strength and high bearing performance when extending into the air gap 400 between the rotor 300 and the stator 200 for a long length, so as to prevent the bearing mechanism 30 from sagging.
It should be noted that the maintenance tool may be a slot wedge loosening maintenance tool, a slot wedge fault processing tool, a slot wedge cleaning tool, or another maintenance tool that needs to be used in the maintenance operation, and is not limited herein.
In one embodiment, the generator maintenance robot 100 further includes a control mechanism, and the driving device and the maintenance tool are electrically connected to the control mechanism, and the control mechanism controls the driving device and the maintenance tool to work.
In an embodiment, the driving device includes an axial driving mechanism 12 and a circumferential driving mechanism 11, the axial driving mechanism 12 is configured to drive the transmission mechanism 20 to drive the bearing mechanism 30 to move along the axial direction of the generator, so as to perform overall maintenance on one of the stator slot wedges 203 and the rotor slot wedges 303 of the generator along the axial direction, and the circumferential driving mechanism 11 is configured to drive the transmission mechanism 20 to drive the bearing mechanism 30 to rotate along the circumferential direction of the generator (i.e., the circumferential driving mechanism 11 can drive the transmission mechanism 20 to drive the bearing mechanism 30 to rotate along 360 ° of the circumferential direction of the generator), so as to perform maintenance on each of the stator slot wedges 203 and the rotor slot wedges 303 of the generator.
Specifically, the axial driving mechanism 12 is assembled on the circumferential driving mechanism 11, the transmission mechanism 20 is connected with the axial driving mechanism 12, and the circumferential driving mechanism 11 is configured to drive the axial driving mechanism 12 to drive the transmission mechanism 20 and the bearing mechanism 30 to rotate along the circumferential direction of the generator. That is, when the carrying mechanism 30 needs to rotate along the circumferential direction of the generator, the circumferential driving mechanism 11 drives the axial driving mechanism 12, the transmission mechanism 20 and the carrying mechanism 30 to rotate together along the circumferential direction of the generator, and when the carrying mechanism 30 needs to rotate along the axial direction of the generator, the axial driving mechanism 12 drives the transmission mechanism 20 to drive the carrying mechanism 30 to move along the axial direction of the generator. The circumferential driving mechanism 11 and the axial driving mechanism 12 may operate simultaneously or independently, and are not limited herein.
In one embodiment, the circumferential driving mechanism 11 is sleeved on the portion of the rotor 300 extending out of the stator 200, and the circumferential driving mechanism 11 can rotate relative to the rotor 300 along the circumferential direction of the generator. That is, in the present embodiment, the circumferential driving mechanism 11 drives the axial driving mechanism 12, the transmission mechanism 20, and the carrier mechanism 30 to rotate together in the circumferential direction of the generator by rotating itself in the circumferential direction relative to the rotor 300. It is understood that in other embodiments, the circumferential driving mechanism 11 may drive the axial driving mechanism 12, the transmission mechanism 20 and the carrying mechanism 30 to rotate together along the circumferential direction of the generator instead of rotating relative to the circumferential direction of the rotor 300, for example, the main body of the circumferential driving mechanism 11 may be stationary relative to the circumferential direction of the rotor 300, and the axial driving mechanism 12, the transmission mechanism 20 and the carrying mechanism 30 may be driven to rotate together along the circumferential direction of the generator by a rotating shaft concentric with the rotor 300.
Further, the circumferential driving mechanism 11 includes a circumferential rotating electrical machine 111, a roller 112, a first half shell 113 and a second half shell 114, the first half shell 113 and the second half shell 114 are sleeved outside the rotor 300 to form a housing, the circumferential rotating electrical machine 111 and the roller 112 are disposed between the housing and the rotor 300, the axial driving mechanism 12 is assembled on the housing, and the circumferential rotating electrical machine 111 moves to drive the roller 112 and the housing to move along the circumferential direction of the generator. Thus, when the circular rotating motor 111 moves to drive the housing to move, the housing drives the axial driving mechanism 12, the transmission mechanism 20 and the bearing mechanism 30 to rotate together along the circumferential direction of the generator.
It is understood that, in other embodiments, the circumferential driving mechanism 11 is not limited to be disposed in the above manner, for example, the housing may be disposed outside the rotor 300, and other components may drive the housing to rotate along the circumferential direction of the generator.
Specifically, the first half shell 113 and the second half shell 114 are fixed by fastening bolts to prevent the shells from being split when they are rotated. More specifically, the housing is made of a steel material.
It should be noted here that when the carrier mechanism 30 is not required to rotate in the circumferential direction of the generator, the circumferential driving mechanism 11 is kept stationary relative to the rotor 300, that is, the circumferential driving mechanism 11 is limited outside the rotor 300 in the circumferential direction of the generator by friction force.
In one embodiment, in order to increase the friction between the rotor 300 and the circumferential driving mechanism 11, so that the circumferential driving mechanism 11 remains stationary relative to the rotor 300 when the bearing mechanism 30 does not need to rotate along the circumferential direction of the generator, the generator maintenance robot 100 further includes a first half-middle part 41 and a second half-middle part 42, the first half-middle part 41 and the second half-middle part 42 are sleeved outside the rotor 300 in an abutting manner to form a middle part, and the circumferential rotation motor 111 and the rollers 112 are disposed between the housing and the middle part. The friction force between the intermediate member and the circumferential direction drive mechanism 11 is large to prevent the circumferential direction drive mechanism 11 from rotating in the circumferential direction relative to the rotor 300 when the circumferential direction rotating motor 111 is not operated.
Specifically, in order to prevent the middleware from damaging the rotor 300, the generator overhaul robot 100 further includes a protective layer disposed between the rotor 300 and the middleware. The protective layer is made of hard plastic or copper sheet.
In one embodiment, the axial driving mechanism 12 includes a first supporting member 121 and an axial driving motor 122, one end of the first supporting member 121 is fixedly connected to the housing, the axial driving motor 122 is mounted at the other end of the first supporting member 121, and the axial driving motor 122 can drive the transmission mechanism 20 to drive the carrying mechanism 30 to move along the axial direction of the generator.
Specifically, the generator maintenance robot 100 further includes a transmission mechanism, the transmission mechanism is connected between the axial driving motor 122 and the transmission mechanism 20 in a transmission manner, and the axial driving motor 122 drives the transmission mechanism 20 through the transmission mechanism to drive the bearing mechanism 30 to move along the axial direction of the generator.
The transmission mechanism comprises a gear 51 and a rack which are meshed with each other, the gear 51 is connected with the axial driving motor 122, and the rack is connected with the transmission mechanism 20.
In one embodiment, the generator servicing robot 100 further includes a limiting mechanism, and the transmission mechanism 20 is clamped in the middle of the limiting mechanism, and the limiting mechanism is used for limiting the axial inclination of the transmission mechanism 20 relative to the generator.
Specifically, the limiting mechanism includes a third supporting member 61, a fourth supporting member 62, a first limiting wheel 63, a second limiting wheel 64 and the gear 51, one end of each of the third supporting member 61 and the fourth supporting member 62 is fixedly connected to the housing, the first limiting wheel 63 is connected to the other end of the third supporting member 61, the second limiting wheel 64 is connected to the other end of the fourth supporting member 62, the first limiting wheel 63 and the second limiting wheel 64 are abutted to one side of the transmission mechanism 20 departing from the gear 51, and the first limiting wheel 63, the second limiting wheel 64 and the gear 51 form three-point limiting to limit the axial inclination of the transmission mechanism 20 relative to the generator.
It is understood that, in other embodiments, the limiting mechanism may further include a fifth supporting member and a third limiting wheel, one end of the fifth supporting member is fixedly connected to the housing, the third limiting wheel is connected to the other end of the fifth supporting member, the third limiting wheel abuts against a side of the transmission mechanism 20 away from the first limiting wheel 63 and the second limiting wheel 64, and the first limiting wheel 63, the second limiting wheel 64 and the third limiting wheel form a three-point support to limit the axial tilt of the transmission mechanism 20 relative to the generator.
Specifically, the first limiting wheel 63, the second limiting wheel 64 and the third limiting wheel are all toothed wheels, and when the transmission mechanism 20 moves along the axial direction of the generator, the teeth arranged on the transmission mechanism 20 are engaged with the first limiting wheel 63, the second limiting wheel 64 and the third limiting wheel.
Referring to fig. 3, in one embodiment, the transmission mechanism 20 includes two first transmission rods 21 and at least two second transmission rods 22, the two first transmission rods 21 are parallel to the axial direction of the generator and are spaced apart from each other, and two ends of the at least two second transmission rods 22 are connected to the two first transmission rods 21 and are spaced apart from each other. In this way, the transmission mechanism 20 is a long strip-shaped hollow-out shape (similar to a ladder shape), the weight is light, the strength is high, and the transmission mechanism 20 with high strength can prevent the bearing mechanism 30 from sagging (sagging is likely to cause the bearing mechanism to rotate from one slot wedge position of the stator 200 or the rotor 300 to the other slot wedge position along the circumferential direction of the generator) when the bearing mechanism is located at the 90 ° position or the 270 ° position of the generator (the top and the bottom of the generator are respectively located at the 0 ° position and the 180 ° position), so as to ensure the accuracy of maintenance; meanwhile, the two first transmission rods 21 are parallel to the axial direction of the generator, so as to ensure that the transmission mechanism 20 drives the bearing mechanism 30 to move along the axial direction of the generator when the driving device moves the transmission mechanism 20.
Referring to fig. 1, in one embodiment, the carrier mechanism 30 includes a first carrier half 31 and a second carrier half 32, and the first carrier half 31 and the second carrier half 32 are disposed on the transport mechanism 20 in a butt-joint manner to form the carrier mechanism 30. In this manner, mounting on the transfer mechanism 20 is facilitated.
Specifically, the first carrier half 31 and the second carrier half 32 are fixed by fastening bolts.
In one embodiment, at least two carriers 30 may be mounted in series on each transport mechanism 20 to improve service efficiency. If the bearing mechanism 30 at the front can bear a slot wedge loosening maintenance tool to detect whether the stator slot wedge 203 or the rotor slot wedge 303 is loosened, and the bearing mechanism 30 at the rear can bear a slot wedge fault processing tool to knock the loosened stator slot wedge 203 or the rotor slot wedge 303.
In one embodiment, the generator service robot 100 further includes a controllable telescopic second support 70, one end of the second support 70 is fixedly connected to the carrying mechanism 30, and the other end of the second support 70 abuts against the inner wall of the stator 200 and/or the outer wall of the rotor 300. Specifically, the other end of the second support 70 abuts on the stator iron bar 205 of the stator 200 and/or the rotor iron bar 305 of the rotor 300.
When the stator slot wedges 203 or the rotor slot wedges 303 are overhauled, the second supporting piece 70 abuts against the stator iron bar 205 and/or the rotor iron bar 305 to ensure the stability of the bearing mechanism 30, and the deviation cannot be caused by the gravity of the transmission mechanism 20 and the bearing mechanism 30 in the process of moving along the axial direction of the generator; the second supporting member 70 is retractable, so that the bearing mechanism 30 can enter the air gap 400 between the rotor 300 and the stator 200 (for example, when entering the air gap 400 between the rotor 300 and the stator 200, it needs to first pass through a small air gap between the guard ring 500 and the stator 200, at this time, the second supporting member 70 can be controlled to retract, and when passing through the small air gap, the second supporting member 70 is controlled to extend to be supported on the inner wall of the stator 200 or the outer wall of the rotor 300).
Specifically, the number of the second supporting members 70 is three, two of the second supporting members 70 abut against the stator iron bar 205, and one of the second supporting members 70 abuts against the rotor iron bar 305. More specifically, the second support member 70 may be a telescopic member such as a telescopic cylinder or a hydraulic cylinder.
Further, the generator servicing robot 100 further comprises a rolling member 80, the rolling member 80 is connected to an end of the second support member 70 not connected to the carrier mechanism 30, and when the carrier mechanism 30 moves in the axial direction or the circumferential direction of the generator, the rolling member 80 rolls on the stator iron bar 205 of the stator 200 and/or the rotor iron bar 305 of the rotor 300. The rolling members 80 are disposed to prevent the inner wall of the stator 200 or the outer wall of the rotor 300 from being scratched when the bearing mechanism 30 moves the second supporting member 70. Specifically, the rolling member 80 is made of rubber.
According to the generator overhauling robot 100 provided by the embodiment of the invention, when the generator needs to be overhauled, two generators can be arranged, which are respectively located at two ends of the generator in the axial direction, and the generator is overhauled simultaneously, so that the working efficiency is improved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A generator service robot, comprising:
a drive device;
the rigid transmission mechanism is in transmission connection with the driving device;
the bearing mechanism is assembled on the transmission mechanism and used for bearing an overhauling tool for overhauling the generator;
the driving device can drive the transmission mechanism to drive the bearing mechanism to bear the maintenance tool to enter an air gap between a rotor and a stator of the generator from the outside, and the bearing mechanism can drive the maintenance tool to move along the axial direction and/or the circumferential direction of the generator in the air gap; the driving device comprises a circumferential driving mechanism and an axial driving mechanism, the axial driving mechanism is assembled on the circumferential driving mechanism, and the transmission mechanism is connected with the axial driving mechanism;
the circumferential driving mechanism is used for driving the axial driving mechanism to drive the transmission mechanism and the bearing mechanism to rotate along the circumferential direction of the generator, the axial driving mechanism comprises a first supporting piece and an axial driving motor, one end of the first supporting piece is fixedly connected with the circumferential driving mechanism, the axial driving motor is assembled at the other end of the first supporting piece, and the axial driving motor drives the transmission mechanism to drive the bearing mechanism to move along the axial direction of the generator;
the generator overhauling robot further comprises a limiting mechanism, the transmission mechanism is clamped in the middle of the limiting mechanism, and the limiting mechanism is used for limiting the axial inclination of the transmission mechanism relative to the generator.
2. The generator service robot of claim 1, wherein the circumferential driving mechanism is sleeved on a portion of the rotor extending out of the stator, and the circumferential driving mechanism is rotatable relative to the rotor in a circumferential direction of the generator.
3. The generator servicing robot of claim 2, wherein the circumferential driving mechanism comprises a circumferential rotating motor, a roller, a first half shell and a second half shell, the first half shell and the second half shell are sleeved outside the rotor to form a housing, the circumferential rotating motor and the roller are disposed between the housing and the rotor, and the circumferential rotating motor moves to drive the roller and the housing to rotate along the circumferential direction of the generator;
wherein, the axial driving mechanism is fixedly connected with the shell.
4. The generator servicing robot of claim 2, further comprising a first half-intermediate and a second half-intermediate, the first half-intermediate and the second half-intermediate being nested outside the rotor to form an intermediate, the intermediate being located between the circumferential drive mechanism and the rotor.
5. The generator servicing robot of claim 4, further comprising a protective layer disposed between the intermediate piece and the rotor.
6. The generator service robot of claim 1, further comprising a transmission mechanism, wherein the transmission mechanism is disposed between the axial driving mechanism and the transmission mechanism, and the axial driving mechanism drives the transmission mechanism to move along the axial direction of the generator through the transmission mechanism.
7. The generator service robot of claim 6, wherein the transmission mechanism comprises a gear and a rack that are engaged with each other, the gear is connected with the axial drive mechanism, and the rack is connected with the transmission mechanism.
8. The generator overhauling robot as recited in claim 1, wherein the transmission mechanism comprises two first transmission rods and at least two second transmission rods, the two first transmission rods extend along the axial direction of the generator and are arranged at intervals, and two ends of the at least two second transmission rods are respectively connected with the two first transmission rods and are arranged at intervals.
9. The generator service robot of claim 1, wherein the carrier mechanism comprises a first half carrier and a second half carrier, the first half carrier and the first half carrier are butt-clamped to the transport mechanism to form the carrier mechanism.
10. The generator overhauling robot as recited in claim 1, further comprising a second controllable telescopic supporting element and a rolling element, wherein one end of the second supporting element is fixedly connected with the bearing mechanism, the rolling element is installed at the suspended end of the second supporting element, and the second supporting element is abutted against the inner wall of the stator and/or the outer wall of the rotor through the rolling element.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910326390.4A CN110011487B (en) | 2019-04-23 | 2019-04-23 | Generator maintenance robot |
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| CN201910326390.4A CN110011487B (en) | 2019-04-23 | 2019-04-23 | Generator maintenance robot |
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| CN110011487A CN110011487A (en) | 2019-07-12 |
| CN110011487B true CN110011487B (en) | 2021-01-22 |
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| CN110514969B (en) * | 2019-07-29 | 2022-01-25 | 国网河北省电力有限公司电力科学研究院 | Generator stator core insulation detection device and detection method |
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| CA2446479C (en) * | 2003-08-04 | 2012-03-13 | Behr Systems, Inc. | Robotic paint applicator and method of protecting a paint robot having an explosion proof electric motor |
| US7520189B2 (en) * | 2006-10-27 | 2009-04-21 | Siemens Energy, Inc. | Generator inspection assembly |
| EP2690755A1 (en) * | 2012-07-27 | 2014-01-29 | Siemens Aktiengesellschaft | Machine and inspection device for a machine |
| CN107394971A (en) * | 2017-08-30 | 2017-11-24 | 中广核核电运营有限公司 | Climbing robot |
| CN107332400B (en) * | 2017-08-30 | 2019-07-02 | 中广核核电运营有限公司 | Walking robot and its method for handling slot wedge loosening |
| CN107482863B (en) * | 2017-08-30 | 2019-07-02 | 中广核核电运营有限公司 | Generator stator-rotator auxiliary changes slot device and method |
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