CN207208245U - The climbing robot being oriented to based on reflecting component - Google Patents

Abstract

It the utility model is related to a kind of climbing robot being oriented to based on reflecting component.The climbing robot includes first, second unilateral mechanism, both ends are respectively with first, the bindiny mechanism of second unilateral mechanism connection, and guiding mechanism, first, second unilateral mechanism can be adsorbed on stator core or rotor core, and it can be moved on stator core or rotor core, guiding mechanism includes the reflecting component on slot wedge, the first probe and the second probe in bindiny mechanism, first, arrange in direction of second probe along the first to the second unilateral mechanism, and first, orthographic projection of second probe on reflecting component is located on reflecting component, first probe includes the first illuminating part and the first light receiving piece, second probe includes the second illuminating part and the second light receiving piece.Stator module is overhauled and tested with rotor assembly using above-mentioned climbing robot, can be time saving and energy saving.And by setting guiding mechanism can the generally linear path of climbing robot mobile route.

Description

The climbing robot being oriented to based on reflecting component

Technical field

Electrical repair technical field is the utility model is related to, is creeped more particularly to a kind of based on what reflecting component was oriented to Robot.

Background technology

Generator generally includes stator and the rotor being arranged in stator, it is necessary to will periodically turn after generator comes into operation Son extracts (take out and wear rotor) out from stator, so that staff enters stator thorax, carries out a series of maintenance and experiment.Take out to wear and turn Son process waste time and energy, by take out wear about 2 meters of diameter, about 15.38 meters of length, about 244 tons of weight rotor exemplified by, it is necessary to use Large-scale lifting appliance, a large amount of parts are removed, and need more people's coordinative operations, it usually needs time-consuming 5 days, about 1100 work days. In addition, rotor grows 15.38 meters, 2 meters of diameter, and with only 58 millimeters at the air gap of stator minimum, be easy to send out in extraction The problems such as raw collision, damages equipment.

Utility model content

Based on this, it is necessary to provide one kind in maintenance and experiment, time saving and energy saving can be oriented to based on reflecting component Climbing robot.

A kind of climbing robot, for being positioned in the gap between stator core and rotor core, to be across interior set Have on the stator slot winding or the interior rotor line ring recess provided with slot wedge of slot wedge, including：

First unilateral mechanism, it can adsorb on the stator core or the rotor core, and can be in the stator core Or moved on the rotor core；

Second unilateral mechanism, it can adsorb on the stator core or the rotor core, and can be in the stator core Or moved on the rotor core；

Bindiny mechanism, the both ends of the bindiny mechanism connect with the described first unilateral mechanism and the second unilateral mechanism respectively Connect；And

Guiding mechanism, including for the reflecting component on the slot wedge, for located at the described first unilateral mechanism, described First in second unilateral mechanism or the bindiny mechanism pops one's head in and for located at the described first unilateral mechanism, second list The second probe in side mechanism or the bindiny mechanism, first probe are popped one's head in along the described first unilateral mechanism with described second Arranged to the direction of the described second unilateral mechanism, and positive throwing of first probe with the described second probe on the reflecting component Shadow is located on the reflecting component, and first probe includes the first illuminating part and the first light receiving piece, the second probe bag Include the second illuminating part and the second light receiving piece.

Stator module is overhauled and tested with rotor assembly using above-mentioned climbing robot, it is not necessary to takes out and wears rotor set Part, can be time saving and energy saving, and security is higher.It need not take out and wear rotor, the big revision of the convention of single is saved 5 days, and the big revision of the convention saves 1100 every time Man-day, it can effectively eliminate to take out and wear the risk that rotor breaks equipment.And by setting guiding mechanism can creeper The generally linear path of device people's mobile route, overhauled and tested in units of groove so as to be easy to.

In one of the embodiments, it is described in the described first unilateral mechanism to the direction of the described second unilateral mechanism The width of reflecting component is 10mm, and the spacing between first probe and second probe is 3mm.

In one of the embodiments, the reflecting component is coated on the reflective enamelled coating on the slot wedge, first hair Light part and second illuminating part are Laser emission part.

In one of the embodiments, the described first unilateral mechanism includes the first installed part and located at first installed part On the first adsorbent equipment and first driving means；

The second unilateral mechanism include the second installed part and the second adsorbent equipment on second installed part and Second drive device.

In one of the embodiments, the number of first adsorbent equipment is two, two first adsorbent equipments The both ends of first installed part are respectively arranged on, the first driving means are located at the middle part of first installed part；Described The number of two adsorbent equipments is two, and two second adsorbent equipments are respectively arranged on the both ends of second installed part, described Second drive device is located at the middle part of second installed part.

In one of the embodiments, first adsorbent equipment includes the first regulating part and located at the described first regulation First adsorption piece of part one end, for first regulating part on first installed part, first regulating part can regulate and control institute The spacing between the first adsorption piece and the stator core or the rotor core is stated, second adsorbent equipment includes second and adjusted Section part and the second adsorption piece located at described second regulating part one end, second regulating part are located at second installed part On, second regulating part can regulate and control the spacing between second adsorption piece and the stator core or the rotor core；

Or first adsorbent equipment and second adsorbent equipment are the magnet coil of controllable magnetic.

In one of the embodiments, the first driving means include the first actuator, the first driving wheel, first driven Wheel and the first crawler belt, on first installed part, first driving wheel drives first actuator with described first Moving part connects, and first driven pulley is on first installed part, and first driven pulley is to first driving wheel Direction it is identical with the bearing of trend of first installed part, first crawler belt is sheathed on first driving wheel and described On one driven pulley, and it is connected with first driving wheel and first driven pulley；

Second drive device includes the second actuator, the second driving wheel, the second driven pulley and the second crawler belt, described On second installed part, second driving wheel is connected second actuator with second actuator, described second from Driving wheel is on second installed part, and second driven pulley to the direction of second driving wheel and described second is installed The bearing of trend of part is identical, and second crawler belt is sheathed on second driving wheel and second driven pulley, and with it is described Second driving wheel and second driven pulley drive connection.

In one of the embodiments, first driving wheel and first driven pulley engage with first crawler belt, Second driving wheel and second driven pulley engage with second crawler belt.

In one of the embodiments, the described first unilateral mechanism also includes close with institute located at first adsorbent equipment State the first plane screening glass of stator core or the rotor core side and set with the first plane screening glass in angle The the first inclined-plane screening glass put, first inclined-plane screening glass be located at first installed part and the first plane screening glass it Between；

The second unilateral mechanism also includes close with the stator core or described turn located at first adsorbent equipment First plane screening glass of sub- iron core side and the first inclined-plane screening glass set with the first plane screening glass in angle, First inclined-plane screening glass is between first installed part and the first plane screening glass.

In one of the embodiments, the climbing robot also includes the with the described first unilateral mechanism electrical connection One cable and the second cable with the described second unilateral mechanism electrical connection, first cable is away from the described first unilateral machine The one end of one end of structure and second cable away from the described second unilateral mechanism is used to be electrically connected with external equipment, and described First cable and second cable are fixedly connected with the bindiny mechanism.

Brief description of the drawings

Fig. 1 is the structural representation in gap of the climbing robot of an embodiment between stator module and rotor assembly Figure；

Fig. 2 is the structural representation that the climbing robot of an embodiment is adsorbed on stator core；

Fig. 3 is the structural representation of the guiding mechanism in Fig. 2；

Fig. 4 is the structural representation of the climbing robot of an embodiment；

Fig. 5 is the structural representation of the unilateral mechanism in Fig. 4.

Embodiment

Below in conjunction with the accompanying drawings and specific embodiment is carried out furtherly to the climbing robot being oriented to based on reflecting component It is bright.

As shown in figure 1, generator includes stator module 10 and rotor assembly 20.Stator module 10 surrounds one in the circumferential Circle, is integrally cylindrical in shape structure, the part in circumference is only shown in Fig. 1.Rotor assembly 20 is overall to be in the form of a column structure, and is arranged in In stator module 10, a part for rotor assembly 20 is also only shown in Fig. 1.Stator module 10 includes stator core 12, stator line Circle 14 and stator slot wedge 16.Stator slot winding 12a is offered on stator core 12, stator coil 14 is located at stator slot winding In 12a, stator coil 14 is pressed in stator slot winding 12a by stator slot wedge 16.In the present embodiment, stator slot winding Bearing of trend (first direction, the axially) extensions of 12a along stator core 12, stator core is extended to from one end of stator core 12 12 other end.Stator slot winding 12a number is multiple, between circumferences of multiple stator slot winding 12a along stator core 12 Every arrangement, so that stator core 12 includes the stator iron bar 12b of a plurality of circumferentially-spaced arrangement along stator core 12.

Rotor assembly 20 includes rotor core 22, rotor coil 24 and rotor slot wedge 26, is offered on rotor core 22 Rotor line ring recess 22a, for rotor coil 24 in rotor line ring recess 22a, rotor coil 24 is pressed in rotor by rotor slot wedge 26 In coil groove 22a.In the present embodiment, bearing of trend (first direction) extensions of the rotor line ring recess 22a along rotor core 22, The other end of rotor core 22 is extended to from one end of rotor core 22.Rotor line ring recess 22a number is multiple, multiple rotors Circumferentially-spaced arrangements of the coil groove 22a along rotor core 22, namely rotor core 22 include it is a plurality of along rotor core 22 The rotor iron bar 22b of circumferentially-spaced arrangement.Wherein, stator core 12 and the magnetic conduction of rotor core 22, and stator slot wedge 16 and rotor The not magnetic conduction of slot wedge 26.

Climbing robot 30 is used to be positioned in the gap between stator module 10 and rotor assembly 20, namely the creeper The size of device people 30 is smaller, can enter in the gap between stator module 10 and rotor assembly 20.Climbing robot 30 is used for horizontal stroke Across on stator slot winding 12a or rotor line ring recess 22a.Climbing robot 30 includes the first unilateral mechanism 32, the second unilateral machine Structure 32a and bindiny mechanism 34.First unilateral mechanism 32 can be adsorbed on stator core 12 or rotor core 22, and can be in stator Moved on iron core 12 or rotor core 22.Second unilateral mechanism 32a can be adsorbed on stator core 12 or rotor core 22, and energy Moved on stator core 12 or rotor core 22.The both ends of bindiny mechanism 34 respectively with the first unilateral 32 and second unilateral machine of mechanism Structure 32a connections.

When using above-mentioned climbing robot 30, above-mentioned climbing robot 30 is first put into stator module 10 and rotor assembly In gap between 20, climbing robot 30 across on stator slot winding 12a or rotor line ring recess 22a, wherein, bindiny mechanism 34 above stator slot winding 12a or rotor line ring recess 22a, and two unilateral mechanisms 32 are adsorbed in the stator slot winding respectively On the stator iron bar 12b or rotor iron bar 22b of 12a or rotor line ring recess 22a both sides.Due to the first unilateral mechanism 32 and second Unilateral mechanism 32a can be adsorbed on stator core 12 or rotor core 22, so as to which climbing robot 30 can be fixed on stator Any position of iron core 12 or rotor core 22, without dropping.Due to the first unilateral 32 and second unilateral mechanism 32a energy of mechanism Move respectively, when the first unilateral mechanism 32 is identical with the second unilateral mechanism 32a translational speed, climbing robot 30 can be walked Straight line, and when the first unilateral 32 and second unilateral mechanism 32a of mechanism translational speed differs, climbing robot 30 can turn To.So as to which climbing robot 30 can be moved to any position of stator core 12 or rotor core 22.

When configuring some mechanisms for being used to overhauling and testing stator module 10 and rotor assembly 20 on climbing robot 30 When, for example, configuration high definition microphone and that beats stator slot wedge 16 or rotor slot wedge 26 beat hammer, by phonetic analysis, i.e., The stator slot wedge 16 of different parts or the elasticity of rotor slot wedge 26 can be tested.Using above-mentioned climbing robot 30 to fixed Sub-component 10 is overhauled and tested with rotor assembly 20, it is not necessary to and take out and wear rotor assembly 20, can be time saving and energy saving, security is more It is high.It need not take out and wear rotor, the big revision of the convention of single is saved 5 days, and the big revision of the convention saves 1100 man-days every time, effectively can eliminate to take out and wear Rotor breaks the risk of equipment.

Because the smooth degree of the surface of stator core 12 everywhere has differences, the smooth degree of the surface of rotor core 22 everywhere It is poor also to exist there is also the translational speed of difference, and the first unilateral 32 and second unilateral mechanism 32a of mechanism of the left and right sides Different, after the long range of climbing robot 30 is creeped (about 8 meters or so of the length of stator core 12), climbing robot 30 just occurs The phenomenon of sideslip.And the stator and rotor of generator are overhauled generally in units of groove, such as：Along the first groove straight line carry out, after the completion of again Carry out the maintenance and experiment of the second groove.Make Robot generator groove advance automatically without run tiltedly, go to another groove and just seem It is critically important.

In order to solve the above problems, as shown in Figures 2 and 3, in the present embodiment, climbing robot 30 also includes being oriented to Mechanism 36, the reflecting component 36a that guiding mechanism 36 includes being used on slot wedge 16, the first probe in bindiny mechanism 34 36b and in bindiny mechanism 34 second probe 36c.First probe 36b pops one's head in 36c along the first unilateral machine with second The unilateral mechanism 32a of structure 32 to the second direction arrangement, and the positive throwing of the first probe 36b and the second probe 36c on reflecting component 36a Shadow is located on reflecting component 36a.In other embodiments, the first probe 36b can also be located at the first unilateral mechanism 32 or the second On unilateral mechanism 32a, the second probe 36c can also be located on the first unilateral unilateral mechanism 32a of mechanism 32 or the second, as long as can make The orthographic projection of the first probe 36b and the second probe 36c on reflecting component 36a is obtained to be located on reflecting component 36a.Wherein, first Probe 36b includes being used for what is launched the first illuminating part of light to reflecting component 36a and reflected for receiving reflecting component 36a First light receiving piece of light.Second probe 36c includes being used to launch the second illuminating part of light to reflecting component 36a and being used for Receive the second light receiving piece of the light that reflecting component 36a is reflected.

Using above-mentioned climbing robot 30 when, first by reflecting component 36a located at the centre position of slot wedge 16 (reflecting component 36a's Length is identical with the length of slot wedge 16), then climbing robot 30 is positioned on stator core 12 (stator iron bar 12b), and adjust Whole first unilateral 32 and second unilateral mechanism 32a of mechanism position, then the first probe 36b and the second probe 36c are located at In bindiny mechanism 34, and cause the center line weight of the center line and reflecting component 36a between the first probe 36b and the second probe 36c Close.Now, the light of the first illuminating part transmitting can be reflected by reflecting component 36a, and be received by the first light receiving piece, the The light of two illuminating parts transmitting can be reflected by reflecting component 36a, and be received by the second light receiving piece.Work as climbing robot 30 to the left (to the first unilateral mechanism 32) after sideslip certain distance, and orthographic projections of the first probe 36b on reflecting component 36a is not located at On reflecting component 36a, orthographic projections of the second probe 36c on reflecting component 36a is located on reflecting component 36a.Now, the first illuminating part is sent out The light penetrated can not be projected to reflecting component 36a, and the first light receiving piece does not receive light, and the light of the second illuminating part transmitting can be with Reflected by reflecting component 36a, and received by the second light receiving piece.At this point it is possible to by slowing down the first unilateral mechanism 32 Translational speed (the second unilateral mechanism 32a translational speed is constant), until the first light receiving piece can receive light after (if any must Will, can after the first light receiving piece receives light, then after postponing certain time), then cause the first unilateral mechanism 32 and the Two unilateral mechanism 32a are moved with same speed.By setting guiding mechanism 36 can the mobile route of climbing robot 30 Generally linear path.

Moreover, when the first light receiving piece and the second light receiving piece do not receive light, namely the first probe 36b and the When two probe 36c orthographic projections are not on the reflecting component 36a, it is believed that the maintenance or off-test of a groove, now can be with Climbing robot 30 is automatically or manually controlled and stops movement, prevents climbing robot 30 from being fallen down from iron core.If desired The maintenance or experiment of next groove are carried out, climbing robot 30 can now be automatically or manually controlled and turn to.

Further, in the present embodiment, reflecting component 36a is coated on the reflective enamelled coating on slot wedge 16, the first illuminating part It is Laser emission part with the second illuminating part.

Further, in the present embodiment, it is reflective on the first unilateral unilateral mechanism 32a of mechanism 32 to the second direction Part 36a width is 10mm, and the spacing between the first probe 36b and the second probe 36c is 3mm.In this way, work as climbing robot 30 To the left (to the first unilateral mechanism 32) after sideslip 3.5mm, the light of the first illuminating part transmitting can not be projected to reflecting component 36a, the One light receiving piece does not receive light.

In the present embodiment, the first unilateral mechanism 32 is as the second unilateral mechanism 32a structure, in order to avoid weight Again, only the first unilateral mechanism 32 is described in detail below, and the first unilateral mechanism 32 is substituted with unilateral mechanism 32.

As shown in Figures 4 and 5, unilateral mechanism 32 includes installed part 100, adsorbent equipment 200 and drive device 300.Absorption Device 200 is on installed part 100, and adsorbent equipment 200 can be adsorbed on stator core 12 or rotor core 22.Drive device 300 on installed part 100, can drive the unilateral mechanism 32 being adsorbed on stator core 12 or rotor core 22 in stator core 12 or rotor core 22 on move, namely drive device 300 be unilateral mechanism 32 power source.

It should be noted that adsorbent equipment 200 can cause climbing robot 30 firmly to be adsorbed in radially (second direction) In on stator core 12 or rotor core 22, do not fall out, and drive device 300 can make climbing robot 30 in transverse direction (first Direction) on move, and during movement, climbing robot 30 is adsorbed on stator core 12 or rotor core 22 always, Do not fall out.Being located at stator core 12 or the top of rotor core 22 with climbing robot 30, (climbing robot 30 is positioned at the top of circle Portion) exemplified by, the gravity of climbing robot 30 straight down, absorption of the climbing robot 30 by adsorbent equipment 200 straight up Power, absorption affinity are more than gravity, so as to which climbing robot 30 is not fallen out, and are inhaled when the driving force that drive device 300 provides is more than During the frictional force that attached power is brought, climbing robot 30 can move in transverse direction (first direction).

In the present embodiment, the number of adsorbent equipment 200 is two, and two adsorbent equipments 200 are respectively arranged on installed part 100 both ends.Drive device 300 is located at the middle part of installed part 100.In this way, climbing robot 30 can be caused radially (second Direction) firmly it is adsorbed on stator core 12 or rotor core 22, do not fall out, while climbing robot 30 can be caused to exist Laterally the moving resistance of (first direction) is smaller, so as to quickly move.

Further, in the present embodiment, adsorbent equipment 200 includes regulating part 210 and located at the one end of regulating part 210 Adsorption piece 220.For regulating part 210 on installed part 100, regulating part 210 can regulate and control adsorption piece 220 and stator core 12 or rotor Spacing between iron core 22., can be by adjusting regulating part 210 so that adsorption piece 220 when using above-mentioned climbing robot 30 Close proximity to stator core 12 or rotor core 22, but adsorption piece 220 is not direct is contacted with stator core 12 or rotor core 22, Spacing be present between adsorption piece 220 and stator core 12 or rotor core 22.In this way, climbing robot 30 can be caused radially (second direction) is firmly adsorbed on stator core 12 or rotor core 22, moreover it is possible to avoids adsorption piece 220 because of direct and stator Iron core 12 or rotor core 22 contact and larger frictional force be present, are advantageous to reduce climbing robot 30 in transverse direction (first party To) moving resistance.In the present embodiment, adsorption piece 220 is permanent magnet.In other embodiments, can also use can The magnet coil for controlling magnetic force substitutes above-mentioned regulating part 210 and adsorption piece 220.

Specifically, in the present embodiment, installed part 100 is provided with through hole, regulating part 210 includes screw rod 212 and nut 214, screw rod 212 is arranged on through hole, and nut 214 is sheathed on screw rod 212, and adsorption piece 220 is located at the end face of the one end of screw rod 212 On, and adsorption piece 220 and nut 214 are respectively positioned at the relative both sides of installed part 100.Preferably, in the present embodiment, nut 214 be self-locking nut, and nut 214 can be avoided the problem of voluntarily releasing occur because of reasons such as vibrations, avoid nut 214, spiral shell The grade element of bar 212 falls to generator.

In the present embodiment, drive device 300 includes actuator, driving wheel 310, driven pulley 320 and crawler belt 330. On installed part 100, driving wheel 310 is connected actuator with actuator, and driven pulley 320 is on installed part 100, and driven pulley 320 is identical with the bearing of trend of installed part 100 to the direction of driving wheel 310, and crawler belt 330 is sheathed on driving wheel 310 and driven pulley On 320, and it is connected with driving wheel 310 and driven pulley 320.When drive device 300 works, actuator drives driving wheel 310 Rotate, driving wheel 310 drives crawler belt 330 to rotate, and crawler belt 330 drives driven pulley 320 to rotate, so as to realize crawler belt 330 in stator Creeped on iron core 12 or rotor core 22, and then realize that climbing robot 10 is creeped on stator core 12 or rotor core 22. Creeped by crawler belt 330 on stator core 12 or rotor core 22, contact area is big, can avoid damage stator core 12 or Rotor core 22.

Further, in the present embodiment, the number of driven pulley 320 is two, and driving wheel 310 is located at two driven pulleys Between 320.Driving wheel 310 and driven pulley 320 engage with crawler belt 330 respectively, so as to avoid the occurrence of the phenomenon of skidding, ensure Climbing robot 10 is stable to creep.Specifically, in the present embodiment, the outer surface of driving wheel 310 and driven pulley 320, and Shallow tooth is equipped with the inner surface of crawler belt 330, driving wheel 310 and driven pulley 320 are engaged with crawler belt 330 by shallow tooth respectively. In present embodiment, driven pulley 320 is provided with encoder, it is hereby achieved that the travel distance of climbing robot 30.

Further, in the present embodiment, climbing robot 30 also includes located at adsorbent equipment 200 close to stator core 12 Or the plane screening glass 410 of the side of rotor core 22.Set plane screening glass 410 that climbing robot 30 can be avoided to creep When, adsorbent equipment 200 scratches stator core 12 or rotor core 22.Due to the inner surface and rotor core 22 of stator core 12 Outer surface be cambered surface, turn to when, adsorbent equipment 200 easily encounters stator core 12 or rotor core 22, in order to protect Iron core, in the present embodiment, climbing robot 30 also include the inclined-plane screening glass set with plane screening glass 410 in angle 420, inclined-plane screening glass 420 is between installed part 100 and plane screening glass 410.Specifically, in embodiments, plane is protected Bluff piece 410 is integrally formed with inclined-plane screening glass 420, is wear-resistant plastic.

Further, in the present embodiment, climbing robot 30 also includes the be electrically connected with the first unilateral mechanism 32 One cable 37 and the second cable 38 with the second unilateral mechanism 32a electrical connections, the first cable 37 is away from the first unilateral mechanism The one end of 32 one end and the second cable 38 away from the second unilateral mechanism 32a is used to be electrically connected with external equipment, and the first electricity The cable 38 of cable 37 and second is fixedly connected with bindiny mechanism 34.So that when climbing robot 30 breaks down immovable, can So that climbing robot 30 to be dragged between the gap of stator module 20 and rotor assembly 30 by the first cable 37 and the second cable 38 Extract and.Preferably, the first cable 37 and the second cable 38 are built-in with steel wire, and the tension of the first cable 37 and the second cable 38 is strong Degree is more than 5.0 (tension every square centimeter that can be resisted is 5Mpa).

Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, the scope that this specification is recorded all is considered to be.

Embodiment described above only expresses several embodiments of the present utility model, and its description is more specific and detailed, But therefore it can not be interpreted as the limitation to utility model patent scope.It should be pointed out that the common skill for this area For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to The scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.

Claims (10)

1. A kind of 1. climbing robot being oriented to based on reflecting component, between being positioned between stator core and rotor core In gap, to be across on the interior stator slot winding provided with slot wedge or the interior rotor line ring recess provided with slot wedge, it is characterised in that bag Include：

   First unilateral mechanism, it can adsorb on the stator core or the rotor core, and can be in the stator core or institute State and moved on rotor core；

   Second unilateral mechanism, it can adsorb on the stator core or the rotor core, and can be in the stator core or institute State and moved on rotor core；

   Bindiny mechanism, the both ends of the bindiny mechanism are connected with the described first unilateral mechanism and the second unilateral mechanism respectively； And

   Guiding mechanism, including for the reflecting component on the slot wedge, for located at the described first unilateral mechanism, described second First in unilateral mechanism or the bindiny mechanism pops one's head in and for located at the described first unilateral mechanism, the second unilateral machine The second probe on structure or the bindiny mechanism, first probe are popped one's head in along the described first unilateral mechanism to institute with described second State the direction arrangement of the second unilateral mechanism, and orthographic projection position of first probe with the described second probe on the reflecting component In on the reflecting component, first probe includes the first illuminating part and the first light receiving piece, and described second, which pops one's head in, includes the Two illuminating parts and the second light receiving piece.
2. 2. the climbing robot according to claim 1 being oriented to based on reflecting component, it is characterised in that described first On unilateral mechanism to the direction of the described second unilateral mechanism, the width of the reflecting component is 10mm, it is described first probe with it is described Spacing between second probe is 3mm.
3. 3. the climbing robot according to claim 1 being oriented to based on reflecting component, it is characterised in that the reflecting component For coated on the reflective enamelled coating on the slot wedge, first illuminating part and second illuminating part are Laser emission part.
4. 4. the climbing robot according to claim 1 being oriented to based on reflecting component, it is characterised in that described first is single Side mechanism includes the first installed part and the first adsorbent equipment and first driving means on first installed part；

   The second unilateral mechanism includes the second installed part and the second adsorbent equipment and second on second installed part Drive device.
5. 5. the climbing robot according to claim 4 being oriented to based on reflecting component, it is characterised in that described first inhales The number of adsorption device is two, and two first adsorbent equipments are respectively arranged on the both ends of first installed part, described first Drive device is located at the middle part of first installed part；The number of second adsorbent equipment is two, and two described second are inhaled Adsorption device is respectively arranged on the both ends of second installed part, and second drive device is located at the middle part of second installed part.
6. 6. the climbing robot according to claim 4 being oriented to based on reflecting component, it is characterised in that described first inhales Adsorption device includes the first regulating part and the first adsorption piece located at described first regulating part one end, and first regulating part is located at On first installed part, first regulating part can regulate and control first adsorption piece and the stator core or the rotor iron Spacing between core, second adsorbent equipment include the second regulating part and inhaled located at the second of described second regulating part one end Annex, second regulating part on second installed part, second regulating part can regulate and control second adsorption piece with Spacing between the stator core or the rotor core；

   Or first adsorbent equipment and second adsorbent equipment are the magnet coil of controllable magnetic.
7. 7. the climbing robot according to claim 4 being oriented to based on reflecting component, it is characterised in that described first drives Dynamic device includes the first actuator, the first driving wheel, the first driven pulley and the first crawler belt, and first actuator is located at described On first installed part, first driving wheel is connected with first actuator, and first driven pulley is located at the described first peace In piece installing, and first driven pulley is identical with the bearing of trend of first installed part to the direction of first driving wheel, First crawler belt is sheathed on first driving wheel and first driven pulley, and with first driving wheel and described One driven pulley is connected；

   Second drive device includes the second actuator, the second driving wheel, the second driven pulley and the second crawler belt, and described second Actuator is on second installed part, and second driving wheel is connected with second actuator, second driven pulley On second installed part, and second driven pulley is to the direction of second driving wheel and second installed part Bearing of trend is identical, and second crawler belt is sheathed on second driving wheel and second driven pulley, and with described second Driving wheel and second driven pulley drive connection.
8. 8. the climbing robot according to claim 7 being oriented to based on reflecting component, it is characterised in that described first drives Driving wheel and first driven pulley engage with first crawler belt, second driving wheel and second driven pulley and described the Two crawler belts engage.
9. 9. the climbing robot according to claim 4 being oriented to based on reflecting component, it is characterised in that described first is single Side mechanism also includes close first flat with the stator core or the rotor core side located at first adsorbent equipment Face screening glass and the first inclined-plane screening glass set with the first plane screening glass in angle, first inclined-plane screening glass Between first installed part and the first plane screening glass；

   The second unilateral mechanism also includes close with the stator core or the rotor iron located at first adsorbent equipment First plane screening glass of core side and the first inclined-plane screening glass set with the first plane screening glass in angle, it is described First inclined-plane screening glass is between first installed part and the first plane screening glass.
10. 10. the climbing robot according to claim 1 being oriented to based on reflecting component, it is characterised in that described to creep Robot also includes electrically connecting with the first cable of the described first unilateral mechanism electrical connection and with the described second unilateral mechanism The second cable connect, first cable one end and second cable away from the described first unilateral mechanism are away from described second One end of unilateral mechanism is used to be electrically connected with external equipment, and first cable and second cable and the connection machine Structure is fixedly connected.