CN115097300A - Robot and method for detecting state in air gap of extraction-free rotor of universal steam turbine generator - Google Patents
Robot and method for detecting state in air gap of extraction-free rotor of universal steam turbine generator Download PDFInfo
- Publication number
- CN115097300A CN115097300A CN202210629618.9A CN202210629618A CN115097300A CN 115097300 A CN115097300 A CN 115097300A CN 202210629618 A CN202210629618 A CN 202210629618A CN 115097300 A CN115097300 A CN 115097300A
- Authority
- CN
- China
- Prior art keywords
- robot
- driving
- generator
- sensor
- rotor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 49
- 230000007246 mechanism Effects 0.000 claims description 16
- 238000007689 inspection Methods 0.000 claims description 11
- 230000000630 rising effect Effects 0.000 claims description 4
- 238000001179 sorption measurement Methods 0.000 claims description 4
- 238000005086 pumping Methods 0.000 abstract description 11
- 238000002955 isolation Methods 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000000149 penetrating effect Effects 0.000 description 5
- 229910000976 Electrical steel Inorganic materials 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 239000003463 adsorbent Substances 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 238000009413 insulation Methods 0.000 description 3
- 230000005389 magnetism Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000009193 crawling Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/24—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/346—Testing of armature or field windings
-
- 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
-
- 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
- H02K15/0018—Applying slot closure means in the core; Manufacture of slot closure means
-
- 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
-
- 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
- H02K15/024—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies with slots
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacture Of Motors, Generators (AREA)
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
Technical Field
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.
Background
For a large steam turbine generator unit, a generator in operation bears severe working conditions, and the structure of the generator is inevitably deteriorated and damaged; in particular the stator, rotor part, which is the main power generating component. In order to prevent serious consequences caused by damage to the main structure of the generator, the internal key components of the generator must be inspected comprehensively at regular intervals. Conventionally, the rotor is extracted from a stator bore of the generator, and stator slot wedge tightness inspection, stator insulation test and stator/rotor surface state inspection are carried out. However, the pumping and penetrating of the generator rotor requires a long shutdown and maintenance time of the generator, which affects the economy of the turbo generator set. And the rotor of a large generator weighs tens of tons, and the operation of drawing and penetrating the rotor has great safety risk, which may cause equipment and personnel damage in the drawing and penetrating processes. The automatic state detection device in the air gap of the rotor without pumping of the generator can enter the air gap (annular chamber) between the stator and the rotor under the condition of not pumping the rotor, so that the state detection work of the stator and the rotor of the generator is completed, and the shutdown maintenance time of the generator and the risk of pumping and penetrating the rotor are reduced. Because of the difference of cooling methods, the turbonator is generally divided into two types, namely a stator with an air isolating ring and a stator without an air isolating ring. The conventional generator intracavity detection device can only work on the inner surface of a stator without an air isolating ring in a crawling mode, and cannot detect a generator with the stator air isolating ring (as shown in figure 1).
Disclosure of Invention
The invention aims to provide a general type turbo generator rotor-extraction-free air gap internal state detection robot which can enter a stator and rotor air gap (annular chamber) formed by a generator rotor/stator under the state of rotor extraction, and can perform stator slot wedge tightness detection, stator insulation test and stator/rotor surface defect detection, thereby effectively shortening the shutdown maintenance time of a generator and reducing the maintenance risk of the generator rotor extraction.
The technical scheme of the invention is as follows: 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 provided with the sensor lifting modules.
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, a camera group is arranged on the front beam, and a camera module is arranged on the rear beam.
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.
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.
The upper side of the bottom of the frame is provided with a permanent magnetic adsorption body.
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.
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.
The connecting rod support comprises a connecting rod and a rocker, and the connecting rod is hinged with the middle of the rocker.
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.
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.
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.
The method for detecting the state in the air gap of the extraction-free rotor of the general-purpose steam turbine generator comprises a passing mode and a detection mode.
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.
The through 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 'through mode'.
The method for detecting the state in the air gap of the extraction-free rotor of the general turbonator comprises the following steps:
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.
The invention has the beneficial effects that:
1) according to the invention, when the large-scale generator set is overhauled, the stator and the rotor can be comprehensively detected without the operation of drawing the rotor, so that the economic loss and the accident risk caused by frequent drawing and penetrating of the rotor are avoided.
2) The invention can cover the existing mainstream generator types by using one robot, namely two types of the stator with the wind isolation ring and the stator without the wind isolation ring.
3) The driving module has a rotary self-adaptive structure, and the included angle between the driving module and the plane of the robot body can be 0-20 degrees, so that the robot can crawl on rotors with different outer diameter sizes.
4) The invention can adapt to the gaps of the stator and the rotor ring cavity of the generator with different heights, the minimum is 35mm, and the maximum can reach 110 mm.
5) The invention can adjust the space between the left ELCID inductor and the right ELCID inductor, meets the requirement of testing the insulation performance of the stator with different widths of the stator slot wedge, and has the adjustable space range of 80-120 mm.
Drawings
FIG. 1 is a schematic diagram of a conventional generator bore detection device that only crawls within a flat stator bore;
FIG. 2 is a schematic view of a universal generator robot without rotor extraction in a detection mode;
FIG. 3 is a schematic view of a universal generator rotor-extracting-free detection robot in a "pass-through mode";
FIG. 4 is a rear view of the robot within the generator ring cavity;
FIG. 5 is a schematic diagram of a main body of a general type turbo generator rotor air gap internal state detection robot without taking out the rotor according to the present invention;
FIG. 6 is an exploded view of a general type turbo generator rotor air gap internal state detection robot without pumping provided by the present invention;
FIG. 7 is a diagram of a sensor lift module configuration;
FIG. 8 is a schematic diagram of a control and detection system of a general-purpose turbo generator rotor-extraction-free air gap internal state detection robot according to the present invention;
fig. 9 is a flowchart of a control procedure of a robot for detecting the state of the general type steam turbine generator in the air gap of the extraction-free rotor according to the present invention.
In the figure: 111 generator stator without wind-proof ring, 112 stator-rotor ring cavity gap, 113 generator rotor, 114 conventional stator crawling detection device, 211 generator stator with wind-proof ring, 212 stator-rotor ring cavity minimum gap, 213 generator rotor, 214 detection robot, wind-proof ring on 215 stator, 216 stator-rotor ring cavity maximum gap, 217 stator slot wedge, 218 stator silicon steel sheet, 219 rotor core, 310 robot body structure, 311 front wind-proof ring inductor, 312 camera group, 313 rear camera, 314 rear wind-proof ring inductor, 315 swinging rotating shaft, 316 upper cover plate, 316 driving module motor mounting seat, 318 embedded controller, 319 side supporting baffle, 320 robot driving module, 321 permanent magnet adsorption body, 322 crawler belt, 323 driving wheel assembly, 317 universal joint, 325 belt wheel driving speed reducing motor, 326 driving module rotating hole, 327 frame, 328 upper cover plate, 329 belt wheel supporting seat, 330 sensor lifting module, 331 slot wedge tightness sensor, 332 first ELCID sensor support, 333 second ELCID sensor support, 334 speed reducing motor, 335 coupler, 336 driving screw, 337 driving nut, 338 connecting rod support, 339 support mounting seat, 412 spacing maintaining roller, 413ELCID sensor, 414 base plate kidney-shaped hole, 415 rocker and 416 connecting rod.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
The invention discloses a robot for detecting the state in a rotor air gap without pumping a general generator, which is suitable for two types of generators in the prior art, in particular to a generator with a stator wind-isolating ring (as shown in figure 2) which can not be detected by a conventional device.
As shown in fig. 5 and 6, a robot for detecting the state of a rotor cavity without pumping a generator comprises a robot body 310, a driving module 320 and a sensor lifting module 330. Two sides of the robot body 310 are respectively provided with a driving module 320, and the robot body 310 is provided with a sensor lifting module 330 for stator detection.
As shown in fig. 5, the main body of the robot body 310 is an integrally formed base, and the base includes a front beam and a rear beam, an upper cover plate 316, and a bottom plate connected to the front beam and the rear beam, respectively, and the upper cover plate 316 covers the front beam and the rear beam. A camera group 312 is arranged on the front beam of the base, and the camera group 312 comprises 3 camera modules positioned in the front, above and below; a camera module 313 is arranged on the rear beam of the base; the base is provided with 4 camera modules, each camera module comprises a zoom lens and an illumination LED lamp and is an integrated structural module, and the camera modules and the illumination can be separated into two elements. The camera group 312 on the front beam of the robot body 310 is provided with 3 cameras, and large-range state observation of the inner cavity of the generator in front of the robot, air hole inspection of the rotor slot wedge below and stator slot wedge inspection above can be respectively realized; the camera module 313 on the back beam of the robot body 310 can realize the large-range state observation of the inner cavity of the generator behind the robot.
A front wind isolating ring inductor 311 and a rear wind isolating ring inductor 314 are further respectively arranged on the robot body 310 in front and rear positions of the sensor lifting module 330, the wind isolating ring inductors are used for detecting the positions of the stator wind isolating rings when the robot walks in a generator stator/rotor air gap ring cavity, the front wind isolating ring inductor 311 and the rear wind isolating ring inductor 314 are both capacitive proximity switches, and once a close-distance metal structure vertical to the upper surface of the robot is sensed, a switching value signal is sent; the sensor may also be an inductive, magnetic, photoelectric proximity switch or a range finder. The left side and the right side of the robot body 310 are respectively provided with 2 swinging rotating shafts 315 which are matched with the rotating holes 326 on the driving modules 320 at the left side and the right side, so that the driving modules 320 can freely deflect at an angle relative to the body 310; the maximum deflection angle of the drive module 320 is 20 ° due to the support of the body side dam 319. When the robot climbs on generator rotors with different diameter sizes, the driving module 320 deflects by a small angle in a self-adaptive manner under the action of the adsorption force so as to ensure that the bottom surface of the module is in tangential contact with the rotors.
Four connecting rotating shafts are symmetrically arranged on four corners of the base, a left driving module and a right driving module are respectively arranged on the robot body 310 through 2 connecting rotating shafts on the left side and the right side, and the driving modules can adjust the plane included angle between the driving modules and the robot body within the range of 0-20 degrees around the rotating shafts so as to be self-adaptive to generator rotors with different sizes.
As shown in fig. 6, there are two driving modules 320, each driving module 320 includes a supporting structure, the supporting structure includes an open square frame 327 and a cover plate 328, the cover plate 328 is fixed on the frame 327, rotating holes 326 are respectively formed on outer sides of two ends of the frame 327, and pulley supporting seats 329 are respectively disposed on inner sides of two ends of the frame 327. The belt wheel support 329 at the two ends is respectively fixed with a belt wheel 323, the two belt wheels 323 are meshed with each other through a driving toothed belt 322 to run, the bottom of the frame 327 and the upper cover plate 328 are respectively provided with a long groove, and the belt wheel 322 passes through the long groove at the bottom of the frame 327, protrudes from the bottom of the frame 327 and is directly contacted with the generator rotor (as shown in fig. 4). Permanent magnetism adsorbent 321 passes through the upside of fix with screw in frame 327 bottom, and permanent magnetism adsorbent 321 in this embodiment is four, and magnetic force sees through the track and adsorbs the whole robot on generator rotor, and the whole robot of magnetic attraction power size assurance hangs down in the rotor bottom surface, still can not drop, and magnetic force is adjusted to the quantity of accessible permanent magnetism adsorbent 321. Only one of the two belt wheels 323 on each driving module is connected with a driving speed reduction motor 325 to play a driving role, the other belt wheel is a driven idle wheel, the driving wheel in the embodiment is a belt wheel arranged near the back beam, and the belt wheel driving speed reduction motor 325 is fixed on the base of the robot body 310 through a motor mounting seat. An output shaft of the driving motor 325 and an input shaft of the pulley 323 are connected by a universal joint 324 to accommodate a deflection angle between the driving module 320 and the robot body 310.
As shown in fig. 6 and 7, the sensor lift module 330 for stator detection includes two sets of carriage drive mechanisms and a link carriage 338. The carriage drive mechanism is coupled to the link carriage 338. The support driving mechanism comprises a driving nut 337, a driving screw 336 and a speed reducing motor 334 for driving the support. The driving motor 334 is connected with a driving screw 336 through a coupler 335, the driving screw 336 is engaged with a driving nut 337, 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 moves linearly along the screw 336 to drive 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, one end of the rocker 415 is fixed on the base of the robot body 310 through the bracket mounting seat 339, the two ends of the screw 336 are also fixed on the base of the robot body 310 through the bracket mounting seat 339, the support driving mechanism can also adopt a telescopic cylinder to replace the motor 334, a linear guide rail to replace the screw 336, a guide rail sliding block to replace the driving nut 337, the telescopic cylinder is connected with the linear guide rail, a guide rail sliding block is installed on the linear guide rail, and the guide rail sliding block is connected with the connecting rod 416.
The rocker 415 is mounted with a sensor base 411 which ascends or descends according to the rotation of the rocker 415. The slot wedge tightness sensor 331 is installed in the middle of the sensor base 411, strikes the generator stator slot wedge, detects and analyzes the striking sound, and judges the tightness of the stator slot wedge. The sensor base 411 has a plate-shaped structure, two sides of the upper portion of the sensor base are respectively in an inverted-mountain-shaped structure, two spacing rollers 412 are respectively mounted on the two inverted-mountain-shaped structures, a first ELCID sensor support 332 is mounted on the left side of the sensor base 411 on the two sides of the sensor base, and a second ELCID sensor support 333 is mounted on the right side of the sensor base. The first ELCID inductor bracket 332 and the second ELCID inductor bracket 333 are respectively provided with an ELCID inductor 413, the end face of the ELCID inductor 413 must be as close as possible to the silicon steel sheets on both sides of the stator slot wedge, and in order to avoid abrasion and adhesion failure, the distance between the end face of the inductor and the surface of the stator silicon steel sheet must be strictly controlled to be about 1 mm; the force of the tap of the wedge tightness sensor 331 is also related to the distance between the sensor and the stator wedge surface. Before the robot is sent into the ring cavity of the generator to work, the height difference between the top end surfaces of the slot wedge tightness sensor 331 and the ELCID sensor 413 and the top point of the spacing maintaining roller 412 on the sensor base is adjusted. When the sensor base 411 is raised to the top, the pitch maintaining roller 412 is in contact with the inner ring surface of the generator stator. At the moment, the distance between the end face of the slot wedge tightness sensor and the ELCID sensor and the inner ring face of the stator is just in the optimal working distance and is kept unchanged in the whole detection process. When the robot is in the "inspection mode", the apex of the space maintaining roller 412 is in close contact with the inner surface of the stator, thereby controlling the distance between the top end surface of the slot wedge tightness sensor 331, the ELCID sensor 413, and the inner ring surface of the stator (as shown in fig. 4). The sensor base 411 is further provided with substrate waist-shaped holes 414 at left and right sides thereof, and the distance between the first ELCID inductor bracket 332 and the second ELCID inductor bracket 333 at left and right sides thereof (as shown in fig. 7) can be adjusted by the mounting position on the substrate waist-shaped hole 414, so as to adapt to different stator slot wedge widths and ensure that the ELCID inductors are opposite to the centers of the silicon steel sheets at both sides of the stator slot wedge (as shown in fig. 4).
The speed reduction motor drives the screw rod to rotate, so as to drive the nut to do linear motion and the connecting rod mechanism to rotate, and the sensor base is made to ascend or descend; the lifting height range is 35-110 mm from the top surface of the base to the bottom surface of the robot, so that the lifting robot is suitable for generator sets with different stator and rotor air gap (annular cavity) sizes.
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 whole robot is shown in fig. 8. The controller 318 sends command signals to the hammer mechanism on the bracket driving speed reducing motor 334, the belt wheel driving speed reducing motor 325 and the slot wedge tightness sensor 331, and receives driving current feedback signals of the front wind isolating ring inductor 311, the rear wind isolating ring inductor 314, the bracket motor 334 and encoder position feedback signals of the belt wheel motor 325. Meanwhile, the robot system also comprises an upper computer which is used for receiving and storing real-time data of each state detection sensor on the robot, wherein the real-time data comprises image data of all cameras 312 and 313, sound signals returned by the slot wedge tightness sensor 331, current signals of the ELCID sensor 413 and operation data of the robot controller. When the robot works, the upper computer is positioned outside the ring cavity of the generator and is connected with the robot controller through the Ethernet cable.
The robot is used for a method for detecting the state that a stator with an air isolating ring does not draw a rotor. The robot working mode is divided into a 'pass mode' and a 'detection mode' according to the lowest height of the sensor lifting module and the maximum height of the air gap ring cavity, and the process of realizing mode conversion is shown in two sub-processes of a flow chart 9:
first, the controller 318 outputs a "ramp-up high voltage" value to the cradle drive deceleration motor 334 and receives the actual drive current value fed back from the motor 334. During the ascending process of the sensor lifting module 330, the motor 334 outputs a constant large torque, and the feedback current value is approximately stable. When the spacing maintaining roller 412 on the sensor base 411 contacts and presses the inner ring surface of the stator of the generator, the external resistance is increased, the feedback current on the driving motor 334 is increased rapidly, the controller 318 switches the output control voltage to a value of keeping low voltage immediately after detecting that the feedback current is increased suddenly, the output torque of the bracket driving motor 334 is reduced, the sensor base 411 and the roller 412 are kept to be attached to the inner ring surface of the stator, and the robot structure enters a detection mode.
Second, the controller 318 outputs a "reverse control voltage" value to the carriage drive deceleration motor 334 and receives an actual drive current value fed back by the motor 334. During the lowering of the sensor lifting module 330, the driving motor 334 rotates in reverse, and the driving nut 337 and the sensor base 411 both move in reverse. After the mechanical resistance position of the lowest point is reached, the external resistance becomes large, the feedback current on the driving motor 334 also increases rapidly, the controller 318 drops the output control voltage to 0 immediately after detecting the feedback current rises sharply, and the robot structure is switched to the "passing mode".
The invention provides a method for detecting the state in an air gap of a rotor without pumping of a general turbonator, which uses a robot provided by the invention to detect the state in the air gap of the rotor without pumping of the generator, and comprises the following steps:
step 1: the robot is in a 'passing mode' state, is manually sent into an air gap of the generator and is powered on;
and 2, step: when the square wind isolating ring inductor 311 has no signal, the robot automatically switches the structure to the detection mode;
and step 3: the controller 318 outputs a control voltage to the belt wheel driving motor 325, the robot runs forwards, meanwhile, signals of all sensors are collected, the state of the generator is detected, and detection data are transmitted to an upper computer system.
During robot travel, controller 318 always receives encoder position signals from pulley drive motor 325 to determine its own travel distance and specific position in the generator annulus. When the travel of the robot is less than the full length of the generator stator-rotor ring cavity, continuing 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 signal of the front wind isolating ring inductor 311 is activated, the control voltage of the belt wheel motor is 0, the robot stops moving forward, and the structure is automatically switched to a 'passing mode';
and 5: the controller 318 outputs a control voltage to the pulley drive motor 325 and the robot continues to travel forward. When the signal of the front wind isolating ring inductor 311 disappears and the signal of the rear wind isolating ring inductor 314 is activated, the robot stops moving when the robot passes through the stator wind isolating ring, and the structure is automatically switched to a detection mode;
step 6: the robot returns to step 3 and executes the cycle.
And 7: and after the inspection of one slot wedge is finished, the robot is switched to a 'pass mode', the robot is manually moved to the next slot wedge by an inspector, and the inspection work of the next slot wedge is started until the inspection of all the slot wedges of the generator is finished.
For the generator without a wind isolation ring on a stator, the robot is always in a detection mode in the working process; in "pass-through mode" only when the robot enters and exits the generator stator-rotor annulus.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210629618.9A CN115097300A (en) | 2022-06-02 | 2022-06-02 | Robot and method for detecting state in air gap of extraction-free rotor of universal steam turbine generator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210629618.9A CN115097300A (en) | 2022-06-02 | 2022-06-02 | Robot and method for detecting state in air gap of extraction-free rotor of universal steam turbine generator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115097300A true CN115097300A (en) | 2022-09-23 |
Family
ID=83288009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210629618.9A Pending CN115097300A (en) | 2022-06-02 | 2022-06-02 | Robot and method for detecting state in air gap of extraction-free rotor of universal steam turbine generator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115097300A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116046797A (en) * | 2023-01-06 | 2023-05-02 | 无锡中车时代智能装备研究院有限公司 | Visual inspection system and method in bore of generator |
| CN116901107A (en) * | 2023-09-13 | 2023-10-20 | 四川迪思源科技有限公司 | Inspection robot for ground wire fault investigation |
| CN117705200A (en) * | 2024-02-06 | 2024-03-15 | 中国能源建设集团江苏省电力建设第一工程有限公司 | Generator set pull-through rotor safety monitoring system and device |
-
2022
- 2022-06-02 CN CN202210629618.9A patent/CN115097300A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116046797A (en) * | 2023-01-06 | 2023-05-02 | 无锡中车时代智能装备研究院有限公司 | Visual inspection system and method in bore of generator |
| CN116046797B (en) * | 2023-01-06 | 2024-01-02 | 无锡中车时代智能装备研究院有限公司 | Visual inspection system and method in bore of generator |
| CN116901107A (en) * | 2023-09-13 | 2023-10-20 | 四川迪思源科技有限公司 | Inspection robot for ground wire fault investigation |
| CN116901107B (en) * | 2023-09-13 | 2023-11-21 | 四川迪思源科技有限公司 | Inspection robot for ground wire fault investigation |
| CN117705200A (en) * | 2024-02-06 | 2024-03-15 | 中国能源建设集团江苏省电力建设第一工程有限公司 | Generator set pull-through rotor safety monitoring system and device |
| CN117705200B (en) * | 2024-02-06 | 2024-05-07 | 中国能源建设集团江苏省电力建设第一工程有限公司 | Generator set pull-through rotor safety monitoring system and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115097300A (en) | Robot and method for detecting state in air gap of extraction-free rotor of universal steam turbine generator | |
| CN110238649B (en) | Reconfigurable man-machine cooperative assembly system for aircraft engine | |
| KR101294584B1 (en) | Stack Assembling for Fuel Cell | |
| CN105417181B (en) | Compressor of air conditioner stacking partition board automatic conveying device and compressor automatic handing system | |
| CN107910999B (en) | A kind of assembly method based on rotor assembling device | |
| CN107681848B (en) | A kind of rotor assembling device | |
| CN108044599B (en) | Be applied to maintenance robotic arm device of strong magnetic field strong radiation operating mode | |
| CN212953024U (en) | Wafer carrying manipulator | |
| CN113031615A (en) | Inspection robot | |
| CN106002049A (en) | Synchronous lifting device | |
| CN111845993B (en) | Rotor crawling type in-bore detection robot device for generator | |
| CN218099500U (en) | General type turbo generator exempts from to take out state detection robot in rotor air gap | |
| CN116313945B (en) | Multi-size compatible wafer scanning device and wafer scanning method | |
| CN111923014B (en) | Manned air shaft inspection robot and air shaft inspection method | |
| CN114524337B (en) | Multistage inspection lifting connection device of track inspection robot | |
| CN115754671B (en) | Detection device and method based on chip production | |
| CN108189002B (en) | Piezoelectric ultrasonic vibrator driving type maintenance mechanical arm applied to severe working conditions | |
| CN214724192U (en) | Crawling positioning robot structure | |
| CN217155813U (en) | Wheel system load test equipment | |
| CN115971086A (en) | Double-turntable type intelligent screw defect full-detection equipment | |
| CN212609268U (en) | Stopper overhauls and removes frame | |
| CN208699837U (en) | A kind of workpiece sensing rotation monitor station | |
| CN220258784U (en) | Splint mechanism for sorting machine and sorting machine | |
| CN216564660U (en) | Automatic wireless charging device of transformer substation inspection robot of location | |
| CN114229708B (en) | Aerogel back-end production line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |