CN118300343A - Groove replacement device and maintenance robot - Google Patents

Abstract

The application provides a groove changing device and an overhaul robot. The support body includes base, support frame and lifting unit, and the base is used for installing on waiting to install the circumference rolling fit of waiting to install along waiting to install with waiting to install, and the support frame passes through lifting unit and is connected with the base, and lifting unit is used for adjusting the radial interval of support frame along waiting to install for the base. The guide piece is installed on the support frame and is used for moving and guiding the overhauling device along a preset direction so that the overhauling device can move onto the guide body. According to the application, the support frame can move relative to the base through the lifting assembly, so that when the base is mounted on the piece to be mounted, one side of the guide piece, which is close to the piece to be mounted, can be coplanar with one side of the guide body, which is close to the piece to be mounted, the smoothness and reliability of the transfer of the overhauling device at the joint of the guide body and the guide piece are ensured, and the reliability of the overhauling robot is improved.

Description

Groove replacement device and maintenance robot

Technical Field

The invention relates to the technical field of electrical maintenance, in particular to a groove changing device and an overhaul robot.

Background

The generator needs to be regularly overhauled by drawing through the rotor in overhaul, namely, the rotor with the diameter of about 2 meters, the length of about 15.38 meters and the weight of about 244 tons is required to be drawn out of the stator, and then personnel enter the stator bore to carry out a series of overhauling and testing. In order to shorten the maintenance period of the generator, related technicians propose to develop an intelligent maintenance robot to enter the generator for maintenance and test, so that maintenance and test are completed in a state that the rotor does not need to be pulled out. But at actual operation's in-process, because be used for carrying out the direction body that removes the direction to intelligent maintenance robot and be located inside the generator, the relative position between intelligent maintenance robot and the direction body can't be guaranteed for intelligent maintenance robot is difficult to accurately transport to the direction body on.

Disclosure of Invention

Based on this, it is necessary to provide a groove changing device and an inspection robot for the problem that the intelligent inspection robot is difficult to accurately transfer to the guide body.

The technical scheme is as follows:

In one aspect, a groove changing device is provided, including:

The support body comprises a base, a support frame and a lifting assembly, wherein the base is used for being installed on a piece to be installed and is in rolling fit with the piece to be installed along the circumferential direction of the piece to be installed, the support frame is connected with the base through the lifting assembly, and the lifting assembly is used for adjusting the distance between the support frame and the base along the radial direction of the piece to be installed; and

The guide piece is arranged on the supporting frame and used for guiding the overhauling device in a moving mode along a preset direction, so that the overhauling device can move onto the guide body.

The technical scheme is further described as follows:

in one embodiment, at least one lifting assembly is correspondingly arranged on two sides of the support frame along the circumferential direction of the piece to be mounted, and the lifting assemblies on the same side of the support frame are arranged at intervals along the axial direction of the piece to be mounted.

In one embodiment, the base comprises a first base body and a second base body, the first base body and the second base body are arranged along the circumferential direction of the to-be-installed piece at intervals, the first base body and the second base body are respectively provided with at least one roller, each roller is correspondingly matched with the outer side wall of the to-be-installed piece in a sliding manner, the support frame comprises a support bracket, a first side plate and a second side plate, the first side plate is connected with the first base body through the lifting assembly, the second side plate is connected with the second base body through the lifting assembly, each support bracket is arranged along the axial direction of the to-be-installed piece at intervals and is fixedly connected with the first side plate and the second side plate, and the guide piece is connected with at least one of the support brackets.

In one embodiment, the lifting assembly comprises a lifting guide rail, a lifting block and a ball, wherein the lifting guide rail is fixed on the base and extends along the radial direction of the piece to be installed, the lifting block is fixed on the supporting frame, and the ball is located between the lifting guide rail and the lifting block, so that the lifting block is in rolling fit with the lifting guide rail.

In one embodiment, the groove replacing device further comprises an operating mechanism, wherein the operating mechanism is connected with the base and the supporting frame, and the operating mechanism is used for converting rotary torsion into driving force along a linear direction so as to drive the supporting frame to reciprocate relative to the base along the radial direction of the piece to be installed.

In one embodiment, the guide member is provided as a magnetically attractive guide rail, and the guide member extends in the preset direction.

In one embodiment, the groove changing device further comprises a protecting piece, wherein the protecting piece is arranged at one end of the guiding piece along the preset direction and is used for separating the guiding piece from the guiding body.

In one embodiment, the number of the guide members is two, the two guide members are arranged at intervals along the circumferential direction of the member to be mounted, the corresponding central angle between the two guide members is a first angle, the central angle between the adjacent two guide bodies is a second angle, and the first angle is equal to the second angle.

On the other hand, the maintenance robot comprises a maintenance device, an axial driving device, a circumferential driving device and a groove changing device, wherein the groove changing device is used for guiding the maintenance device to move along the preset direction, and the axial driving device is installed on the groove changing device and is in transmission connection with the maintenance device, so that the maintenance device can move along the axial direction of a piece to be installed, and the circumferential driving device is in transmission connection with the groove changing device, so that the groove changing device can move along the circumferential direction of the piece to be installed.

In one embodiment, the circumferential driving device comprises a driving vehicle, a follower and a synchronous belt, the driving vehicle is in transmission connection with the groove changing device, the synchronous belt is sleeved on the outer side of the to-be-installed piece and is used for pressing the driving vehicle and the groove changing device on the to-be-installed piece, at least one follower is arranged, and each follower is connected in series with the synchronous belt, so that the synchronous belt is arranged with the to-be-installed piece at intervals.

The groove replacing device and the maintenance robot in the above embodiment are used, when the groove replacing device is used, the distance between the supporting frame and the base along the radial direction of the piece to be installed is adjusted through the lifting component, so that when the base is installed on the piece to be installed, one side, close to the piece to be installed, of the guide piece can be coplanar with one side, close to the piece to be installed, of the guide body, smoothness and reliability of transportation of the maintenance device at the connection position of the guide body and the guide piece are guaranteed, the problem that the intelligent maintenance robot is difficult to accurately transport to the guide body in the prior art is solved, and reliability of the maintenance robot is improved. When the inside of generator needs to be overhauld, correspond the axial drive device and install on the supporting body, with supporting body and circumference drive device correspondence install on the lateral wall of waiting to install the piece for circumference drive device can drive the supporting body and remove, after with leading the direction piece on the supporting body to aim at with the direction body, install the maintenance device on the direction piece again correspondingly, and then make the maintenance device can pass the narrow space of grommet department under the removal direction of direction piece and the drive of axial drive device, and transport to the direction body, realize overhauling the engine inside, improve the convenience and the efficiency of engine maintenance.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of an inspection robot according to an embodiment mounted on an object to be mounted.

Fig. 2 is a schematic structural view of a groove changing device according to an embodiment mounted on a member to be mounted.

Fig. 3 is a schematic structural diagram of the groove changing device in fig. 2.

Fig. 4 is a partial enlarged view of a portion a in fig. 3.

Reference numerals illustrate:

10. a groove changing device; 100. a support body; 110. a base; 111. a first substrate; 112. a second substrate; 113. a roller; 120. a support frame; 121. a support bracket; 122. a first side plate; 123. a second side plate; 130. a lifting assembly; 131. lifting the guide rail; 132. a lifting block; 200. a guide member; 210. a magnetic guide rail; 20. a piece to be mounted; 30. a circumferential driving device; 31. a drive vehicle; 32. a follower vehicle; 33. a synchronous belt; 34. a balancing mechanism; 35. an adjusting mechanism.

Detailed Description

In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.

As shown in fig. 1, there is provided an inspection robot, including an inspection device (not shown), an axial driving device (not shown), a circumferential driving device 30 and a groove changing device 10, where the groove changing device 10 is used for guiding movement of the inspection device along a preset direction, the axial driving device is mounted on the groove changing device 10 and is in transmission connection with the inspection device, so that the inspection device can move along an axial direction of a piece 20 to be installed, and the circumferential driving device 30 is in transmission connection with the groove changing device 10, so that the groove changing device 10 can move along a circumferential direction of the piece 20 to be installed.

In the inspection robot in the above embodiment, when in use, the axial driving device is correspondingly mounted on the groove changing device 10, and the circumferential driving device 30 and the groove changing device 10 are correspondingly mounted on the member to be mounted 20, so that the circumferential driving device 30 can drive the axial driving device and the groove changing device 10 to move along the circumferential direction of the member to be mounted 20. When the inside of engine is required to be overhauled, after the circumferential driving device 30 drives the groove changing device 10 to move to the initial position, the overhauling device is installed on the groove changing device 10 and is in transmission connection with the axial driving device, so that the axial driving device can drive the overhauling device to pass through a narrow space at the guard ring 20 and transport the overhauling device to the guide body, and further the overhauling device moves and detects under the moving guide of the guide body and the continuous driving of the axial driving device, and the inside of the engine is overhauled once. After last maintenance is accomplished, maintenance device resets, and circumference drive arrangement 30 drive trades groove device 10 and axial drive device and removes for maintenance device can adsorb on the direction body of different positions in order to overhaul, until accomplish the inside maintenance of whole engine, improves the convenience and the efficiency that the generator overhauld.

Wherein the member to be installed 20 may be provided as a grommet or other structure capable of installing the channel changing device 10. The guiding body can be arranged as a stator core, a rotor core or other structures capable of guiding the maintenance device in the generator in a moving way. Specifically, in this embodiment, at least one guide body extends along the axial direction of the member to be mounted 20, and all guide bodies are disposed at intervals along the circumferential direction of the member to be mounted 20, so that the slot changing device 10 can be aligned with any one of all guide bodies when the slot changing device 10 is correspondingly mounted on the member to be mounted 20.

Wherein, maintenance device can be any kind of maintenance structure among the prior art. The axial drive means may be any of the prior art axial drive arrangements. The peripheral drive 30 may be any of the prior art peripheral drive arrangements. The initial position can be flexibly adjusted according to the actual use requirement. In this embodiment, the inspection device may be configured as a magnetic inspection robot. The initial position is the highest point of the outer sidewall of the member to be mounted 20. The overhauling device comprises an ultrasonic probe, and the ultrasonic probe is used for scanning and detecting flaws inside the engine.

As shown in fig. 1, in one embodiment, the circumferential driving device 30 includes a driving vehicle 31, a follower 32 and a synchronous belt 33, the driving vehicle 31 is in transmission connection with the groove changing device 10, the synchronous belt 33 is sleeved on the outer side of the to-be-installed piece 20 and is used for pressing the driving vehicle 31 and the groove changing device 10 on the to-be-installed piece 20, at least one follower 32 is provided, and each follower 32 is connected in series with the synchronous belt 33, so that the synchronous belt 33 and the to-be-installed piece 20 are arranged at intervals. In this way, the synchronous belt 33 can play a role in limiting and guiding, so that the driving vehicle 31 can drive the ring groove device to move on the surface of the piece 20 to be installed along the circumferential direction of the piece 20 to be installed, and the reliability of the maintenance robot is improved. In addition, hold-in range 33 can apply the clamp force to follower 32, when guaranteeing that follower 32 and wait to install piece 20 laminating, follower 32 can cooperate with driving truck 31 and groove changing device 10 so that hold-in range 33 and wait to install piece 20 interval, when avoiding taking place the friction between hold-in range 33 and the wait to install piece 20 and leading to waiting to install piece 20 surface to produce the scratch, rolling friction between follower 32 and the wait to install piece 20 reduces the running resistance of circumference drive arrangement 30, improves the reliability of maintenance robot.

The timing belt 33 may have an annular structure, or may be engaged with other connecting members to form an annular structure. In particular, in the present embodiment, the drive carriage 31 and the slot-changing apparatus 10 are connected by a quick hinge. The driving vehicle 31 can be driven by a servo motor, and the four-wheel driving function of the driving vehicle 31 is realized through two-stage transmission, so that the driving reliability is ensured. The level gauge is arranged in the driving vehicle 31, and the main function of the level gauge is to calibrate the initial position of the groove changing device 10, so as to calibrate the movement measuring system of the maintenance robot. The timing belt 33 is fixedly connected to at least one of the drive car 31, the follower car 32 and the groove changing device 10 so that the timing belt 33 can move rotationally on the member to be mounted. One side of the driving car 31 is designed with a miniature camera module for monitoring the slot out and in mechanisms of the inspection device.

As shown in fig. 1, optionally, the circumferential driving device 30 further includes a balancing mechanism 34, the balancing mechanism 34 and the groove changing device 10 are respectively located on two opposite outer sidewalls of the to-be-installed piece 20, the balancing mechanism 34 is connected in series to the synchronous belt 33, and is in rolling fit with the to-be-installed piece 20, and the synchronous belt 33 compresses the balancing mechanism 34. Thus, the balancing mechanism 34 can balance the mass eccentricity, so that the overall driving moment can reach the minimum value, the running load of the driving vehicle 31 is reduced, and the reliability of the maintenance robot is improved.

Specifically, in this embodiment, the balancing mechanism 34 includes a balancing wheel and a balancing body, where the balancing wheel is rotatably installed on the balancing body and is in rolling fit with the to-be-installed piece 20, and the balancing body is in driving connection with the synchronous belt 33, so that the synchronous belt 33 can drive the balancing body to move along the circumferential direction of the to-be-installed piece 20.

As shown in fig. 1 and 2, in one embodiment, the circumferential driving device 30 further includes an adjusting mechanism 35, where the adjusting mechanism 35 is connected in series to the synchronous belt 33 and is in rolling fit with the to-be-mounted member 20, and the adjusting mechanism 35 is used for adjusting tightness of the synchronous belt 33. In this way, the adjusting mechanism 35 can tighten the synchronous belt 33, so that the groove changing device 10, the driving vehicle 31, the follower 32, the balancing mechanism 34 and the adjusting mechanism 35 can be tightly attached to the to-be-installed piece 20, and the reliability of the maintenance robot is improved.

The adjusting mechanism 35 may be any tightness adjusting structure for a belt in the prior art, and will not be described in detail herein.

Further, the adjusting mechanism 35 includes a mounting member, a follower and a reel, wherein the follower and the reel are rotatably disposed on the mounting member, the follower is in rolling fit with the mounting member 20, the mounting member and the mounting member 20 are disposed at intervals, the reel is provided with a connecting through hole along the radial direction of the reel, and the synchronous belt 33 is disposed through the connecting through hole. In this way, through rotating the spool for the hold-in range 33 of surplus part can twine on the spool, guarantees that hold-in range 33 can tighten up and be in taut state, simultaneously, because hold-in range 33 applys the radial direction's of treating installed part 20 compressive force to the installed part, the installed part passes through the follower wheel and treats installed part 20 along treating the circumference direction rolling fit of installed part 20, and then makes adjustment mechanism 35 can be connected as an organic wholely with hold-in range 33, and follow driving car 31 synchronous movement improves maintenance robot's reliability.

As shown in fig. 1 and 3, the adjusting mechanism 35 may further include a ratchet wheel and a pawl, the ratchet wheel is sleeved on the spool, the pawl is rotatably connected with the mounting member, and the pawl is engaged with the ratchet wheel to limit the spool to rotate in the loosening direction. In this way, the supporting force of the pawl to the ratchet wheel is utilized to offset the pulling force of the synchronous belt 33 to the reel, so that the reel is prevented from rotating relative to the mounting piece in the moving process, the synchronous belt 33 is ensured to be kept in a tensioned state, and the reliability of the overhauling robot is improved.

Wherein, the loosening direction is: the direction in which the spool releases the timing belt 33, i.e., the direction opposite to the direction in which the spool tightens the timing belt 33. In this embodiment, the adjustment mechanism 35 includes an elastic member that is coupled to both the mounting member and the pawl and is configured to apply a pulling or pushing force to the pawl to maintain the pawl in engagement with the ratchet.

As shown in fig. 1 and 2, in one embodiment, a groove changing device 10 is provided, which is applied to engine maintenance, and the groove changing device 10 includes a support body 100 and a guide member 200. The supporting body 100 includes a base 110, a supporting frame 120, and a lifting assembly 130, the base 110 is used for rolling fit with the member to be installed 20 along the circumferential direction of the member to be installed 20, the supporting frame 120 is connected with the base 110 through the lifting assembly 130, the lifting assembly 130 is used for adjusting the distance between the supporting frame 120 and the base 110 along the radial direction of the member to be installed 20, and the guide member 200 is installed on the supporting frame 120. The guide 200 is mounted on the support frame 120, and the guide 200 is used for guiding the maintenance device in a preset direction, so that the maintenance device can be moved onto the guide body.

When the groove changing device 10 in the above embodiment is used, the distance between the support frame 120 and the base 110 along the radial direction of the piece 20 to be installed is adjusted by the lifting assembly 130, so that when the base 110 is installed on the piece 20 to be installed, one side of the guide piece 200, which is close to the piece 20 to be installed, can be coplanar with one side of the guide body, which is close to the piece 20 to be installed, so that smoothness and reliability of transferring the maintenance device at the joint of the guide body and the guide piece 200 are ensured, the problem that the intelligent maintenance robot is difficult to accurately transfer to the guide body in the prior art is solved, and the reliability of the maintenance robot is improved. When the inside of generator needs to be overhauld, install axial drive device on supporting body 100 correspondingly, install supporting body 100 and circumference drive device 30 on waiting to install the lateral wall of piece 20 correspondingly for circumference drive device 30 can drive supporting body 100 and remove, after with the direction body alignment of guide 200 on the messenger supporting body 100, install the maintenance device on guide 200 correspondingly again, and then make the maintenance device can pass the narrow space of shroud department under the removal direction of guide 200 and axial drive device's drive, and transport to the direction body, realize overhauling the inside of engine, improve the convenience and the efficiency of engine maintenance.

Wherein the guide 200 may be a guide rail, a guide bar, a guide groove, or other guide structure. The preset direction may be set as the extending direction of the guide 200. When the groove changing device 10 is mounted on the member to be mounted 20, the preset direction is parallel to the axial direction of the member to be mounted 20. As shown in fig. 2 and 3, in the present embodiment, the guide member 200 is provided as a magnetic guide 210, and the guide member 200 extends along a predetermined direction. So, when the maintenance device gets into inside the engine, the guide 200 can extend as the outside of direction body, and the maintenance device is placed from the outside of generator to the maintenance device smoothly gets into inside the generator under the removal direction of guide 200 and axial drive device's drive, and moves on the direction body, improves maintenance robot's practicality. In particular, in this embodiment, the guide 200 is made of steel. The guide 200 may be divided into multiple segments at intervals in order to avoid other components at the support body 100.

Optionally, the slot-changing apparatus 10 further includes a protecting member disposed at one end of the guide member 200 along the predetermined direction, and configured to separate the guide member 200 from the guide body. In this way, the guide piece 200 is in butt joint with the guide body through the protection block, so that the guide body is prevented from being damaged due to collision between the guide piece 200 with high hardness and the guide body, and the reliability of the groove changing device 10 is improved.

Wherein the guard may be provided as a guard block, guard pad, guard ferrule or other guard structure. In particular, in this embodiment, the guard is made of a non-metallic material having a low hardness, such as a rubber block.

As shown in fig. 1 and 2, alternatively, two guide members 200 are provided, the two guide members 200 are disposed at intervals along the circumferential direction of the member 20 to be mounted, the corresponding central angle between the two guide members 200 is a first angle, the central angle between two adjacent guide bodies is a second angle, and the first angle is equal to the second angle. Thus, the magnetic attraction area between the overhauling device and the guide piece 200 and the guide body is increased, the overhauling device is ensured to be stably and reliably adsorbed on the groove changing device 10 and the guide body, and the reliability of the overhauling robot is improved.

In particular, in the present embodiment, the member to be mounted 20 is disposed coaxially with the guide body. The stator body of the generator is provided with 48 grooves in a circle, and the guiding body is correspondingly wound in the 48 grooves. The values of the first angle and the second angle are each 7.5 °. Thus, the circumferential driving device 30 correspondingly drives the groove changing device 10 to rotate 7.5 degrees, namely, one groove changing is completed, and the axial driving device correspondingly drives the overhauling device to enter the engine for one overhauling.

As shown in fig. 2, 3 and 4, in one embodiment, at least one lifting assembly 130 is correspondingly disposed on two sides of the supporting frame 120 along the circumferential direction of the to-be-installed piece 20, and the lifting assemblies 130 on the same side of the supporting frame 120 are disposed at intervals along the axial direction of the to-be-installed piece 20. In this way, by arranging a plurality of lifting assemblies 130, the whole guide piece 200 and the supporting frame 120 can be ensured to synchronously reciprocate along the radial direction of the piece to be installed 20, the guide piece 200 is prevented from tilting in the moving process, and the reliability of the groove changing device 10 is improved.

As shown in fig. 1 and 2, optionally, the base 110 includes a first base 111 and a second base 112, the first base 111 and the second base 112 are disposed at intervals along a circumferential direction of the to-be-installed component 20, the first base 111 and the second base 112 are each provided with at least one roller 113, each roller 113 is correspondingly slidably matched with an outer side wall of the to-be-installed component 20, the support frame 120 includes a support bracket 121, a first side plate 122 and a second side plate 123, the first side plate 122 is connected with the first base 111 through a lifting assembly 130, the second side plate 123 is connected with the second base 112 through the lifting assembly 130, each support bracket 121 is disposed at intervals along an axial direction of the to-be-installed component 20, and is fixedly connected with the first side plate 122 and the second side plate 123, and the guide component 200 is connected with at least one of all the support brackets 121. In this way, the plurality of support brackets 121 can cooperate to constrain the position of the guide member 200, so that the bending resistance of the guide member 200 is enhanced, and the reliability of the channel changing device 10 is improved.

In particular, in the present embodiment, the support bracket 121 is provided in a U shape. The roller 113 is of rubber-encapsulated design to increase friction between the roller 113 and the piece 20 to be mounted.

Wherein, the lifting assembly 130 may be a rolling lifting structure, a sliding lifting structure, a telescopic lifting mechanism or other lifting structure.

As shown in fig. 3 and 4, alternatively, the lifting assembly 130 includes a lifting rail 131, a lifting block 132, and balls, the lifting rail 131 is fixed on the supporting frame 120 and extends along the radial direction of the to-be-mounted member 20, the lifting block 132 is fixed on the base 110, and the balls are located between the lifting rail 131 and the lifting block 132, so that the lifting block 132 is in rolling fit with the lifting rail 131.

In one embodiment, the slot-changing apparatus 10 further includes an operating mechanism, which is connected to the base 110 and the supporting frame 120, and the operating mechanism is used for converting a rotational torque force into a driving force along a linear direction, so as to drive the supporting frame 120 to reciprocate relative to the base 110 along a radial direction of the to-be-mounted member 20.

The operating mechanism may be any of the prior art operating structures capable of converting rotational torque into driving force in a linear direction, such as a rack-and-pinion structure, a lead screw nut structure, or a worm-and-gear structure. Specifically, the operation structure includes a gear, a rack, and an operation rod, the operation rod is rotatably mounted on the base 110, the gear is sleeved on the operation rod and is in transmission connection with the operation rod, the rack is disposed along a radial direction of the member to be mounted 20 and is mounted on the support frame 120, and the gear is meshed with the gear.

In the description of the present application, it should be understood that, if any, these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., are used herein with respect to the orientation or positional relationship shown in the drawings, these terms refer to the orientation or positional relationship for convenience of description and simplicity of description only, and do not indicate or imply that the apparatus or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.

Furthermore, the terms "first," "second," and the like, if any, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the terms "plurality" and "a plurality" if any, mean at least two, such as two, three, etc., unless specifically defined otherwise.

In the present application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly. For example, the two parts can be fixedly connected, detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, the meaning of a first feature being "on" or "off" a second feature, and the like, is that the first and second features are either in direct contact or in indirect contact through an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that if an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. If an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein, if any, are for descriptive purposes only and do not represent a unique embodiment.

It will be further understood that when interpreting the connection or positional relationship of elements, although not explicitly described, the connection and positional relationship are to be interpreted as including the range of errors that should be within an acceptable range of deviations from the particular values as determined by those skilled in the art. For example, "about," "approximately," or "substantially" may mean within one or more standard deviations, and is not limited herein.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (10)

1. A channel changing device, comprising:

The support body comprises a base, a support frame and a lifting assembly, wherein the base is used for being installed on a piece to be installed and is in rolling fit with the piece to be installed along the circumferential direction of the piece to be installed, the support frame is connected with the base through the lifting assembly, and the lifting assembly is used for adjusting the distance between the support frame and the base along the radial direction of the piece to be installed; and

The guide piece is arranged on the supporting frame and used for guiding the overhauling device in a moving mode along a preset direction, so that the overhauling device can move onto the guide body.

2. The groove changing device according to claim 1, wherein at least one lifting assembly is correspondingly arranged on two sides of the supporting frame along the circumferential direction of the piece to be mounted, and the lifting assemblies on the same side of the supporting frame are arranged at intervals along the axial direction of the piece to be mounted.

3. The groove changing device according to claim 2, wherein the base comprises a first base body and a second base body, the first base body and the second base body are arranged at intervals along the circumferential direction of the piece to be installed, the first base body and the second base body are respectively provided with at least one roller, each roller is correspondingly and slidably matched with the outer side wall of the piece to be installed, the supporting frame comprises a supporting bracket, a first side plate and a second side plate, the first side plate is connected with the first base body through the lifting assembly, the second side plate is connected with the second base body through the lifting assembly, each supporting bracket is arranged at intervals along the axial direction of the piece to be installed and is fixedly connected with the first side plate and the second side plate, and the guide piece is connected with at least one of all the supporting brackets.

4. The channel changing apparatus of claim 2, wherein the lifting assembly comprises a lifting rail, a lifting block and a ball, the lifting rail is fixed to the base and extends in a radial direction of the member to be mounted, the lifting block is fixed to the support frame, and the ball is located between the lifting rail and the lifting block, so that the lifting block is in rolling fit with the lifting rail.

5. The channel changing device according to claim 1, further comprising an operating mechanism, wherein the operating mechanism is connected to the base and the supporting frame, and the operating mechanism is configured to convert a rotational torque into a driving force along a linear direction, so as to drive the supporting frame to reciprocate relative to the base along a radial direction of the member to be mounted.

6. A channel changing device according to any one of claims 1 to 5, wherein the guide member is provided as a magnetically attractive guide rail, the guide member extending in the predetermined direction.

7. The channel changing apparatus according to claim 6, further comprising a guard member provided at one end of the guide member in the preset direction and configured to separate the guide member from the guide body.

8. The groove changing device according to claim 6, wherein the number of the guide members is two, the two guide members are arranged at intervals along the circumferential direction of the member to be mounted, the corresponding central angle between the two guide members is a first angle, the central angle between the adjacent two guide bodies is a second angle, and the first angle is equal to the second angle.

9. The maintenance robot is characterized by comprising a maintenance device, an axial driving device, a circumferential driving device and a groove changing device according to any one of claims 1 to 8, wherein the groove changing device is used for guiding the maintenance device to move along a preset direction, the axial driving device is installed on the groove changing device and is in transmission connection with the maintenance device, so that the maintenance device can move along the axial direction of a piece to be installed, and the circumferential driving device is in transmission connection with the groove changing device, so that the groove changing device can move along the circumferential direction of the piece to be installed.

10. The inspection robot according to claim 9, wherein the circumferential driving device comprises a driving vehicle, a follower vehicle and a synchronous belt, the driving vehicle is in transmission connection with the groove changing device, the synchronous belt is sleeved on the outer side of the to-be-installed piece and is used for pressing the driving vehicle and the groove changing device on the to-be-installed piece, at least one follower vehicle is arranged, and each follower vehicle is connected in series with the synchronous belt so that the synchronous belt and the to-be-installed piece are arranged at intervals.