CN115097300A - Robot and method for detecting state in air gap of extraction-free rotor of universal steam turbine generator - Google Patents

Abstract

The invention belongs to the field of detection robots, and particularly relates to a robot and a method for detecting the state in a rotor air gap of a general turbonator without pumping. The robot comprises a robot body, driving modules and sensor lifting modules, wherein the two sides of the robot body are respectively provided with one driving module, and the robot body is loaded with the sensor lifting modules. The invention has the beneficial effects that: when having realized large-scale generating set overhaul, need not to take out the rotor operation and can carry out comprehensive detection to stator, rotor, avoided frequently taking out the economic loss and the accident risk that wears the rotor and bring. The existing mainstream generator types can be covered by using one robot, namely two types of the stator with the wind isolation ring and the stator without the wind isolation ring. The driving module has a rotary self-adaptive structure, and the range of a plane included angle between the driving module and the robot body can be 0-20 degrees, so that the robot can crawl on rotors with different outer diameter sizes.

Description

Robot and method for state detection in air gap of general-purpose steam turbine generator without extraction

technical field

The invention belongs to the field of detection robots, and in particular relates to a robot and a method for detecting the state in the air gap of a general-purpose steam turbine generator without a pumping rotor.

Background technique

For large-scale steam turbine generator sets, the running generators are subjected to harsh working conditions, which inevitably cause deterioration and damage to the generator structure; especially the stator and rotor parts as the main power generation components. In order to prevent the serious consequences caused by the damage to the main structure of the generator, it is necessary to conduct a comprehensive inspection of its internal key components on a regular basis. Conventional practice is to pull the rotor out of the generator stator bore for a stator wedge tightness check, a stator insulation test and a stator/rotor surface condition check. However, pumping and passing through the generator rotor requires a long time for generator shutdown and maintenance, which affects the economy of the turbo-generator set. In addition, the rotor of a large generator weighs dozens of tons, and the operation of extracting and threading the rotor has great safety risks, which may cause equipment and personnel damage during the extraction and return threading process. The automatic device for detecting the state in the air gap of the generator's rotor without pumping can enter the air gap (annular chamber) between the stator and the rotor without pumping the rotor to complete the state detection of the stator and rotor of the generator and reduce power generation. Machine downtime and maintenance time and the risk of pumping and piercing the rotor. Due to the different cooling methods, turbo-generators are generally divided into two categories: stators with an air barrier ring, and stators without an air barrier ring. The conventional generator cavity detection device can only crawl on the inner surface of the stator without an air baffle ring, and cannot detect a generator with a stator air baffle ring (as shown in Figure 1).

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a general-purpose steam turbine generator without extraction rotor air gap state detection robot, which can enter the stator-rotor air gap (annular chamber) formed by the generator rotor/stator without extracting the rotor. , to check the tightness of the stator slot wedge, the stator insulation test and the surface defect inspection of the stator/rotor, which can effectively shorten the downtime of the generator and reduce the maintenance risk of the generator's rotor.

The technical scheme of the present invention is as follows: a general-purpose generator extraction-free rotor cavity state detection robot includes a robot body, a drive module and a sensor lifting module, a drive module is provided on each side of the robot body, and a sensor is mounted on the robot body. Lift module.

The base includes a front beam and a rear beam, an upper cover plate, and a bottom plate respectively connected with the front beam and the rear beam, the upper cover plate covers the front beam and the rear beam, the front beam is provided with a camera group, and the There is a camera module on the rear beam.

There are two drive modules in total, and each drive module includes a support structure, the support structure includes a frame and a cover plate, the cover plate is arranged on the frame, and the outer sides of the two ends of the frame are respectively machined with rotating holes The inner sides of the two ends of the frame are provided with pulley support seats, the pulley support seats at both ends are respectively fixed with pulleys, and the toothed crawler belts are driven to mesh and operate between the two pulleys.

The bottom of the frame and the upper cover are respectively provided with long grooves, and the crawler belts pass through the long grooves at the bottom of the frame and protrude from the bottom of the frame.

The upper side of the bottom of the frame is provided with a permanent magnet adsorption body.

One of the two pulleys is connected to a drive deceleration motor to play a driving role, and the drive deceleration motor is fixed on the base of the robot body through the motor mounting seat.

The sensor lifting module includes two sets of bracket driving mechanisms and link brackets, and the bracket driving mechanism is connected to the link brackets.

The connecting rod bracket includes a connecting rod and a rocker, and the middle of the connecting rod and the rocker is hinged.

The support drive mechanism includes a drive nut, a drive screw and a deceleration motor for support drive, the drive motor is connected with the drive screw through a coupling, the drive screw is engaged with a drive nut, and one end of the connecting rod is connected to the drive nut When the driving motor drives the screw to rotate, the driving nut moves linearly along the screw to drive the connecting rod to rotate. The middle of the connecting rod and the rocker is hinged to form a connecting rod bracket. The connecting rod drives the rocker to rotate, and one end of the rocker is installed through the bracket. The seat is fixed on the base of the robot body, and both ends of the screw rod are also fixed on the base of the robot body through the bracket mounting seat.

The support driving mechanism includes a telescopic cylinder, a linear guide rail and a guide rail slider, the telescopic cylinder is connected with the linear guide rail, the guide rail slider is installed on the linear guide rail, and the guide rail slider is connected with the connecting rod.

A sensor base is installed on the rocker, and a slot wedge tightness sensor is installed in the middle of the sensor base. The inverted "mountain"-shaped structure is respectively installed with two distance maintaining rollers. The left side of the sensor base on both sides is equipped with a first ELCID sensor bracket, and the right side is equipped with a second ELCID sensor bracket. The first ELCID sensor bracket is installed. ELCID sensors are respectively mounted on the ELCID sensor bracket and the second ELCID sensor bracket.

A state detection method in the air gap of a general-purpose steam turbine generator without extraction rotor includes a passing mode and a detection mode.

The detection mode is that the controller outputs the "rising voltage" value to the bracket to drive the geared motor, and accepts the actual driving current value fed back by the motor. During the rising process of the sensor lifting module, the motor outputs a constant large torque, and its feedback current The value is approximately stable. When the distance on the sensor base keeps the rollers in contact and presses the inner ring surface of the generator stator, the external resistance becomes larger, and the feedback current on the drive motor will increase rapidly. After the controller detects that the feedback current has risen sharply Immediately switch the output control voltage to the "maintain low voltage" value, reduce the output torque of the bracket drive motor, keep the sensor base and the rollers close to the inner ring surface of the stator, and the robot structure enters the "detection mode".

The said pass mode is that the controller outputs the "reverse control voltage" value to the bracket to drive the geared motor, and accepts the actual driving current value fed back by the motor. During the descending process of the sensor lifting module, the driving motor rotates in the reverse direction, driving the nut and the sensor. The base moves in the opposite direction. After reaching the mechanical blocking position at the lowest point, the external resistance becomes larger, and the feedback current on the drive motor also increases rapidly. The controller immediately reduces the output control voltage to 0, the robot structure is converted to "pass-through mode".

The method for detecting the state in the air gap of a general-purpose steam turbine generator without extraction rotor includes the following steps:

Step 1: The robot is in the "passing mode" state, fed into the generator air gap, and then powered on;

Step 2: When there is no signal from the front air barrier sensor, the robot automatically switches the structure to "detection mode";

Step 3: The controller outputs the control voltage to the pulley drive motor, the robot drives forward, and at the same time collects sensor signals, detects the generator status, and transmits the detection data to the host computer system;

During the robot's traveling process, the controller is always receiving the encoder position signal of the pulley drive motor to determine its own walking distance and the specific position in the generator ring cavity. When the robot's stroke is less than the full length of the generator stator-rotor ring cavity , continue to step 4;

When the robot stroke is equal to the full length of the generator stator-rotor ring cavity, that is, the wedge check is over, and jump to step 7;

Step 4: When the robot approaches the stator air baffle ring, the sensor signal of the front air baffle ring is activated, the control voltage of the pulley motor is 0, the robot stops moving, and the structure is automatically converted to "passing mode";

Step 5: The controller outputs the control voltage to the pulley drive motor, and the robot continues to move forward. When the signal of the front air baffle ring sensor disappears and the rear air baffle ring sensor signal is activated, it means that the robot has passed the stator air baffle ring, the robot stops moving, and automatically switches the structure to "detection mode";

Step 6: The robot returns to step 3 and executes in a loop;

Step 7: After the inspection of one wedge is completed, the robot switches to "passing mode", moves the robot to the next wedge, and starts the inspection of the next wedge until all the wedges of the generator are inspected.

The beneficial effects of the present invention are:

1) The present invention realizes that the stator and rotor can be comprehensively inspected without rotor extraction operation when the large generator set is overhauled, thereby avoiding economic losses and accident risks caused by frequent rotor extraction.

2) The present invention can cover the existing mainstream generator types by using one robot, that is, two types of stators with and without an air barrier ring.

3) The drive module of the present invention has a self-adaptive rotation structure, and the included angle between the drive module and the robot body can range from 0 to 20°, so that the robot can crawl on rotors with different outer diameters.

4) The invention can adapt to different heights of generator stator-rotor ring cavity clearance, the minimum is 35mm, and the maximum is 110mm.

5) The present invention can adjust the distance between the left and right ELCID inductors to meet the stator insulation performance testing requirements of different stator slot wedge widths, and the adjustable distance ranges from 80mm to 120mm.

Description of drawings

1 is a schematic diagram of a conventional generator cavity detection device that only crawls in a flat stator bore;

Figure 2 is a schematic diagram of a general-purpose generator without rotor extraction detection robot under "detection mode";

Figure 3 is a schematic diagram of a general-purpose generator without rotor extraction detection robot under "passing mode";

Fig. 4 is the rear view of the robot in the generator ring cavity;

FIG. 5 is a main structural diagram of a state detection robot in the air gap of a general-purpose steam turbine generator without extraction rotor provided by the present invention;

6 is an exploded view of a general-purpose steam turbine generator provided by the present invention for detecting the state of a robot in the air gap of a non-pumping rotor;

Figure 7 is a structural diagram of a sensor lifting module;

Fig. 8 is a general-purpose steam turbine generator control and detection system architecture diagram of the state detection robot in the air gap of the non-extraction rotor provided by the present invention;

FIG. 9 is a flow chart of the control program of a general-purpose steam turbine generator provided by the present invention for detecting the state in the air gap of the rotor without extracting the rotor.

In the picture: 111 generator stator without air baffle ring, 112 stator-rotor ring cavity gap, 113 generator rotor, 114 conventional stator creep detection device, 211 generator stator with air baffle ring, 212 stator-rotor ring Cavity minimum clearance, 213 generator rotor, 214 detection robot, 215 air baffle ring on stator, 216 stator-rotor ring cavity maximum clearance, 217 stator slot wedge, 218 stator silicon steel sheet, 219 rotor iron core, 310 robot body structure, 311 Front air baffle sensor, 312 camera group, 313 rear camera, 314 rear air baffle sensor, 315 swing shaft, 316 upper cover, 317 drive module motor mount, 318 embedded controller, 319 side support baffle Plate, 320 robot drive module, 321 permanent magnet adsorption body, 322 track, 323 drive wheel assembly, 324 universal joint, 325 pulley drive gear motor, 326 drive module rotation hole, 327 frame, 328 upper cover, 329 pulley Support base, 330 sensor lift module, 331 slot wedge tightness sensor, 332 first ELCID sensor bracket, 333 second ELCID sensor bracket, 334 gear motor, 335 coupling, 336 drive screw, 337 drive nut, 338 connection Rod Bracket, 339 Bracket Mount, 412 Spacing Roller, 413 ELCID Sensor, 414 Base Plate Waist Hole, 415 Rocker, 416 Link.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

The invention discloses a general-purpose generator extraction-free rotor air-gap state detection robot, which is suitable for existing two types of generators, especially generators with stator wind-shielding rings that cannot be detected by conventional devices (as shown in FIG. 2 ). Show).

As shown in FIGS. 5 and 6 , a general-purpose generator extraction-free rotor cavity state detection robot includes a robot body 310 , a driving module 320 and a sensor lifting module 330 . The robot body 310 is provided with a drive module 320 on both sides, and the robot body 310 is equipped with a sensor lifting module 330 for stator detection.

As shown in FIG. 5 , the main body of the robot body 310 is integrally processed to form a base, the base includes a front beam and a rear beam, an upper cover plate 316, and a bottom plate respectively connected to the front beam and the rear beam, and the upper cover plate 316 covers on the front and rear beams. A camera group 312 is installed on the front beam of the base, and the camera group 312 includes three camera modules located in the front, above and below; a camera module 313 is installed on the rear beam of the base; there are 4 camera modules on the base, wherein Each camera module contains a zoom lens and lighting LED lights, and is a one-piece structural module, in which the camera module and lighting can also be separated into two components. The camera group 312 on the front beam of the robot body 310 has 3 cameras, which can respectively realize the large-scale state observation of the inner cavity of the generator in front of the robot, the ventilation hole inspection of the lower rotor slot wedge, and the upper stator slot wedge inspection; The camera module 313 can realize a wide range of state observation of the inner cavity of the generator behind the robot.

The robot body 310 is also provided with a front air barrier ring sensor 311 and a rear air barrier ring sensor 314 at the front and rear positions of the sensor lifting module 330, respectively. The air barrier ring sensor is used by the robot in the generator stator/rotor air gap ring cavity. The position of the stator air barrier is detected when walking in the middle. The front air barrier sensor 311 and the rear air barrier sensor 314 are both capacitive proximity switches. Once the proximity metal structure perpendicular to the upper surface of the robot is sensed, Send out a switch signal; the sensor can also use an inductive, magnetic, photoelectric proximity switch or a distance meter. There are two swinging shafts 315 on the left and right sides of the robot body 310, which cooperate with the rotating holes 326 on the driving module 320 on the left and right sides, so that the driving module 320 can freely deflect an angle relative to the body 310; For support, the maximum deflection angle of the driving module 320 is 20°. When the robot crawls on the generator rotors with different diameters, the drive module 320 is adaptively deflected by a small angle under the action of the adsorption force, so as to ensure that the bottom surface of the module is in tangential contact with the rotor.

Four connecting shafts are symmetrically installed on the four corners of the base, and two connecting shafts on the left and right sides respectively install the left/right drive modules on the robot body 310. The drive modules can be adjusted around the rotating shaft within a range of 0 to 20° to the plane of the body. Included angle to adapt to different sizes of generator rotors.

As shown in FIG. 6 , there are two drive modules 320 , and each drive module 320 includes a support structure. The support structure includes an open square frame 327 and a cover plate 328 , and the cover plate 328 is fixed on the frame 327 . On the outer sides of the two ends of the frame 327 are respectively machined with rotating holes 326 , and the inner sides of the two ends of the frame 327 are provided with pulley support seats 329 . The pulleys 323 are respectively fixed on the pulley support bases 329 at both ends. The two pulleys 323 are driven to mesh and operate by driving the toothed crawler belts 322. The bottom of the frame 327 and the upper cover plate 328 are respectively provided with long grooves. It passes through the long slot in the bottom of the frame 327 and protrudes from the bottom of the frame 327 to be in direct contact with the generator rotor (as shown in FIG. 4 ). The permanent magnet adsorption bodies 321 are fixed on the upper side of the bottom of the frame 327 by screws. There are four permanent magnetic adsorption bodies 321 in this embodiment. The robot is suspended upside down on the bottom surface of the rotor, and still will not fall off, and the magnetic force can be adjusted by the number of permanent magnet adsorption bodies 321 . Of the two pulleys 323 on each drive module, only one is connected to the drive reduction motor 325 for driving, and the other pulley is a driven idler. The pulley drive deceleration motor 325 is fixed on the base of the robot body 310 through the motor mounting seat. The output shaft of the driving motor 325 and the input shaft of the pulley 323 are connected by a universal joint 324 to adapt to the deflection angle between the driving module 320 and the robot body 310 .

As shown in FIGS. 6 and 7 , the sensor lifting module 330 for stator detection includes two sets of bracket driving mechanisms and link brackets 338 . The bracket driving mechanism is connected to the link bracket 338 . The bracket driving mechanism includes a driving nut 337, a driving screw 336 and a deceleration motor 334 for driving the bracket. The driving motor 334 is connected with the driving screw 336 through the coupling 335, the driving screw 336 is engaged with a driving nut 337, and one end of the connecting rod 416 is connected with the driving nut 337. When the driving motor 334 drives the screw 336 to rotate, the driving nut 337 The linear movement along the screw 336 drives the connecting rod 416 to rotate. The connecting rod 416 is hinged with the middle of the rocker 415 to form a connecting rod bracket 338. The connecting rod 416 drives the rocker 415 to rotate, and one end of the rocker 415 is fixed by the bracket mounting seat 339 On the base of the robot body 310, the two ends of the screw rod 336 are also fixed on the base of the robot body 310 through the bracket mounting seat 339. The bracket driving mechanism can also use a telescopic cylinder instead of the motor 334, and a linear guide rail instead of the screw rod 336, the guide rail slide block replaces the drive nut 337, the telescopic cylinder is connected to the linear guide rail, the guide rail slide block is installed on the linear guide rail, and the guide rail slide block is connected with the connecting rod 416.

A sensor base 411 is installed on the rocker 415 , which rises or falls with the rotation of the rocker 415 . A slot wedge tightness sensor 331 is installed in the middle position of the sensor base 411, which knocks the generator stator slot wedge, detects and analyzes the knocking sound, and judges the tightness of the stator slot wedge. The sensor base 411 is a plate-like structure, and two sides of the upper part are respectively inverted "mountain"-shaped structures, and two distance maintaining rollers 412 are respectively installed on the two inverted "mountain"-shaped structures. A first ELCID sensor bracket 332 is mounted on the left side of the base 411 , and a second ELCID sensor bracket 333 is mounted on the right side. ELCID sensors 413 are installed on the first ELCID sensor bracket 332 and the second ELCID sensor bracket 333 respectively. The end face of the ELCID sensor 413 must be as close as possible to the silicon steel sheets on both sides of the stator slot wedge. , the distance between the sensor end face and the stator silicon steel sheet surface must be strictly controlled at about 1mm; the tapping force of the slot wedge tightness sensor 331 is also related to the distance between the sensor and the stator slot wedge surface. Before the robot is sent into the generator ring cavity to work, the distance between the top surface of the wedge tightness sensor 331 and the top surface of the ELCID sensor 413 and the sensor base is adjusted to maintain the height difference between the tops of the rollers 412 . When the sensor base 411 rises to the top, the spacing maintaining roller 412 is in contact with the inner ring surface of the generator stator. At this time, the distance between the slot wedge tightness sensor and the end face of the ELCID sensor and the inner ring surface of the stator is just at the optimal working distance and remains unchanged during the entire detection process. When the robot is in the "detection mode", the top of the distance maintaining roller 412 is in close contact with the inner surface of the stator, thereby controlling the distance between the top surface of the wedge tightness sensor 331, the top surface of the ELCID sensor 413 and the inner surface of the stator (as shown in FIG. 4 ). shown). On the left and right sides of the sensor base 411 are also provided with waist-shaped holes 414 on the substrate. The first ELCID sensor bracket 332 and the second ELCID sensor bracket on the left and right sides can be adjusted through the installation positions on the waist-shaped holes 414 of the substrate. 333 spacing (as shown in Figure 7), in order to adapt to different stator slot wedge widths, and to ensure that the ELCID inductor is facing the center of the silicon steel sheet on both sides of the stator slot wedge (as shown in Figure 4).

The geared motor drives the screw to rotate, drives the nut to move in a straight line and the link mechanism rotates, so that the sensor base rises or falls; the lifting height range is 35-110mm from the top surface of the base to the bottom surface of the robot to adapt to different stator and rotor air gaps (ring cavity) size generator set.

As shown in FIG. 6 , the embedded controller 318 of the robot is installed on the base of the robot body 310 , and the control and detection system architecture of the entire robot is shown in FIG. 8 . The controller 318 sends a command signal to the bracket driving gear motor 334, the pulley driving gear motor 325, and the hammer mechanism on the wedge tightness sensor 331, and receives the front wind shield sensor 311, the rear wind shield sensor 314, The drive current feedback signal of the bracket motor 334 and the encoder position feedback signal of the pulley motor 325. At the same time, the robot system also has a host computer, which is used to receive and store the real-time data of each state detection sensor on the robot, including the image data of all cameras 312 and 313, the sound signal returned by the wedge tightness sensor 331, and the ELCID sensor. 413 current signal, and the operation data of the robot controller. When working, the host computer is located outside the generator ring cavity and is connected to the robot controller through an Ethernet cable.

The robot is used for the detection method of the state of the generator with an air-isolating ring on the stator without drawing the rotor, and the robot based on the present invention has the ability to convert the working mode. The working mode of the robot is divided into two types: "passing mode" and "detecting mode" according to the lowest height of the sensor lifting module and the maximum height of the air gap ring cavity. The process of realizing mode conversion is shown in the two sub-processes of flowchart 9:

1. The controller 318 outputs the "rising voltage" value to the support drive deceleration motor 334 , and accepts the actual driving current value fed back by the motor 334 . During the rising process of the sensor lifting module 330, the motor 334 outputs a constant large torque, and the feedback current value thereof is approximately stable. When the distance maintaining roller 412 on the sensor base 411 contacts and presses the inner ring surface of the generator stator, the external resistance becomes larger, and the feedback current on the drive motor 334 will increase rapidly. Immediately switch the output control voltage to the "maintain low voltage" value, reduce the output torque of the bracket drive motor 334, keep the sensor base 411 and the roller 412 close to the inner ring surface of the stator, and the robot structure enters the "detection mode".

2. The controller 318 outputs the "reverse control voltage" value to the support drive deceleration motor 334 , and accepts the actual drive current value fed back by the motor 334 . During the descending process of the sensor lifting module 330, the driving motor 334 rotates in the reverse direction, and both the driving nut 337 and the sensor base 411 move in the reverse direction. After reaching the mechanical blocking position of the lowest point, the external resistance becomes larger, and the feedback current on the drive motor 334 will also increase rapidly. The controller 318 immediately reduces the output control voltage to 0 after detecting the sharp rise of the feedback current, and the robot structure changes. for "pass-through mode".

The method for detecting the state in the air gap of the non-pumping rotor of a general-purpose steam turbine generator uses the robot provided by the present invention to detect the state in the air gap of the non-pumping rotor of the generator, including the following steps:

Step 1: The robot is in the "passing mode" state, is manually fed into the generator air gap, and then powered on;

Step 2: When the front air barrier sensor 311 has no signal, the robot automatically switches the structure to the "detection mode";

Step 3: The controller 318 outputs the control voltage to the pulley drive motor 325, the robot moves forward, and simultaneously collects the signals of various sensors, detects the state of the generator, and transmits the detection data to the host computer system.

During the traveling process of the robot, the controller 318 is always receiving the encoder position signal of the pulley driving motor 325 to determine its own traveling distance and the specific position in the generator ring cavity. When the robot stroke is less than the full length of the generator stator-rotor ring cavity, continue to step 4;

When the robot stroke is equal to the full length of the generator stator-rotor ring cavity, that is, the wedge check is over, and jump to step 7;

Step 4: When the robot approaches the stator air baffle ring, the signal of the front air baffle ring sensor 311 is activated, the control voltage of the pulley motor is 0, the robot stops moving, and the structure is automatically converted to "passing mode";

Step 5: The controller 318 outputs a control voltage to the pulley drive motor 325, and the robot continues to move forward. When the signal of the front wind shield sensor 311 disappears and the signal of the rear wind shield sensor 314 is activated, it means that the robot has passed the stator wind shield, the robot stops moving, and the structure is automatically converted to "detection mode";

Step 6: The robot returns to step 3 and executes in a loop.

Step 7: After the inspection of one wedge is completed, the robot switches to the "passing mode", and the inspector manually moves the robot to the next wedge, and starts the inspection of the next wedge until all the wedges of the generator are inspected.

For generators without an air baffle ring on the stator, the robot is always in "detection mode" during operation; it is only in "passing mode" when the robot enters and exits the stator-rotor ring cavity of the generator.

Claims (15)

1. General type generator exempts from to take out rotor intracavity state detection robot, its characterized in that: the robot comprises a robot body, driving modules and sensor lifting modules, wherein the two sides of the robot body are respectively provided with one driving module, and the robot body is loaded with the sensor lifting modules.

2. The robot for detecting the state in the cavity of the pumping-free rotor of the general generator as claimed in claim 1, wherein: the base comprises a front beam, a rear beam, an upper cover plate and a bottom plate, wherein the bottom plate is connected with the front beam and the rear beam respectively, the upper cover plate covers the front beam and the rear beam, the front beam is provided with a camera group, and the rear beam is provided with a camera module.

3. The universal generator pumping-free rotor cavity internal state detection robot as claimed in claim 1, characterized in that: the drive module totally two, every drive module all includes bearing structure, bearing structure include frame and apron, the apron is established on the frame, has processed the rotation hole respectively on the outside of two tip of frame, the inboard of two tip of frame is provided with the band pulley supporting seat, is fixed with the band pulley on the band pulley supporting seat at both ends respectively, through driving the meshing operation of tooth type track between two band pulleys.

4. The robot for detecting the state in the cavity of the pumping-free rotor of the general generator as claimed in claim 3, wherein: the bottom of the frame and the upper cover plate are respectively provided with a long groove, and the crawler belt passes through the long groove at the bottom of the frame and protrudes from the bottom of the frame.

5. The robot for detecting the state in the cavity of the pumping-free rotor of the general generator as claimed in claim 3, wherein: the upper side of the bottom of the frame is provided with a permanent magnetic adsorption body.

6. The universal generator pumping-free rotor cavity internal state detection robot as claimed in claim 3, characterized in that: one of the two belt wheels is connected with a driving speed reduction motor to play a driving role, and the driving speed reduction motor is fixed on a base of the robot body through a motor mounting seat.

7. The robot for detecting the state in the cavity of the pumping-free rotor of the general generator as claimed in claim 1, wherein: the sensor lifting module comprises two sets of support driving mechanisms and a connecting rod support, and the support driving mechanisms are connected with the connecting rod support.

8. The universal generator pump-free rotor cavity internal state detection robot as claimed in claim 7, wherein: the connecting rod support comprises a connecting rod and a rocker, and the connecting rod is hinged with the middle of the rocker.

9. The carriage drive mechanism as recited in claim 7, wherein: the support driving mechanism comprises a driving nut, a driving screw and a speed reducing motor used for driving the support, the driving motor is connected with the driving screw through a coupler, the driving nut is meshed on the driving screw, one end of a connecting rod is connected with the driving nut, when the driving motor drives the screw to rotate, the driving nut carries out linear motion along the screw, the connecting rod is driven to rotate, the connecting rod is hinged with the middle of the rocker and forms a connecting rod support, the connecting rod drives the rocker to rotate, one end of the rocker is fixed on a base of the robot body through a support mounting seat, and two ends of the screw are also fixed on the base of the robot body through the support mounting seat.

10. Another implementation of the carriage drive mechanism of claim 7, wherein: the support driving mechanism comprises a telescopic cylinder, a linear guide rail and a guide rail sliding block, the telescopic cylinder is connected with the linear guide rail, the guide rail sliding block is installed on the linear guide rail, and the guide rail sliding block is connected with the connecting rod.

11. The universal generator pumping-free rotor cavity state detection robot as claimed in claim 8, wherein: the rocker is provided with a sensor base, a slot wedge tightness sensor is arranged in the middle of the sensor base, the sensor base is of a plate-shaped structure, the two sides of the upper portion of the sensor base are respectively of an inverted-Y-shaped structure, two interval maintaining rollers are respectively arranged on the two inverted-Y-shaped structures, a first ELCID sensor support is arranged on the left side of the sensor base on the sensor base, a second ELCID sensor support is arranged on the right side of the sensor base on the sensor base, and ELCID sensors are respectively arranged on the first ELCID sensor support and the second ELCID sensor support.

12. The method for detecting the state in the air gap of the extraction-free rotor of the general turbonator is characterized by comprising the following steps of: including a pass mode and a detect mode.

13. The method for detecting the state in the air gap of the extraction-free rotor of the general-type steam turbine generator as claimed in claim 12, wherein: the detection mode is that the controller outputs a 'high-voltage rising' value to the support driving speed reduction motor and receives an actual driving current value fed back by the motor, the motor outputs a constant large torque in the rising process of the sensor lifting module, the feedback current value is approximately stable, when the distance on the sensor base keeps the roller to contact and press the inner ring surface of the stator of the generator, the external resistance is increased, the feedback current on the driving motor can be rapidly increased, the controller immediately switches the output control voltage into a 'low-voltage keeping' value after detecting that the feedback current rises steeply, the output torque of the support driving motor is reduced, the sensor base and the roller are kept to be tightly attached to the inner ring surface of the stator, and the robot structure enters the detection mode.

14. The method for detecting the state in the air gap of the extraction-free rotor of the general type steam turbine generator as claimed in claim 12, wherein: the passing mode is that the controller outputs a 'reverse control voltage' value to the support driving speed reduction motor, and receives an actual driving current value fed back by the motor, in the descending process of the sensor lifting module, the driving motor rotates reversely, the driving nut and the sensor base move reversely, after the mechanical resistance position at the lowest point is reached, the external resistance is increased, the feedback current on the driving motor can also be rapidly increased, the controller immediately drops the output control voltage to 0 after detecting that the feedback current rises steeply, and the robot structure is converted into the passing mode.

15. The method for detecting the state in the air gap of the extraction-free rotor of the general turbonator is characterized by comprising the following steps of:

step 1: the robot is in a 'passing mode' state, is sent into a generator air gap and is powered on;

step 2: when the square wind isolating ring sensor has no signal, the robot automatically switches the structure to a detection mode;

and step 3: the controller outputs control voltage to the belt wheel driving motor, the robot runs forwards, meanwhile, sensor signals are collected, the state of the generator is detected, and detection data are transmitted to an upper computer system;

in the process of the robot moving, the controller always receives a position signal of an encoder of the belt wheel driving motor to determine the self walking distance and the specific position in the generator annular cavity, and when the travel of the robot is smaller than the full length of the generator stator-rotor annular cavity, the controller continues to execute the step 4;

when the travel of the robot is equal to the full length of the generator stator-rotor annular cavity, namely the slot wedge inspection is finished, skipping to the step 7;

and 4, step 4: when the robot runs to approach the stator wind isolating ring, a front wind isolating ring inductor signal is activated, the belt wheel motor controls the voltage to be 0, the robot stops moving forward, and the structure is automatically switched to a 'passing mode';

and 5: the controller outputs control voltage to the belt wheel driving motor, and the robot continues to run forwards. When the signal of the front wind isolating ring inductor disappears and the signal of the rear wind isolating ring inductor is activated, the robot stops moving when the signal represents that the robot passes through the stator wind isolating ring, and the structure is automatically switched to a detection mode;

and 6: the robot returns to the step 3 and executes in a circulating way;

and 7: and after the detection of one slot wedge is finished, the robot is switched to a 'pass mode', the robot is moved to the next slot wedge, and the detection work of the next slot wedge is started until all the slot wedges of the generator are detected.

Images