CN207218476U - The climbing robot being oriented to based on guide - Google Patents
The climbing robot being oriented to based on guide Download PDFInfo
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- CN207218476U CN207218476U CN201721104491.XU CN201721104491U CN207218476U CN 207218476 U CN207218476 U CN 207218476U CN 201721104491 U CN201721104491 U CN 201721104491U CN 207218476 U CN207218476 U CN 207218476U
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Abstract
A kind of climbing robot being oriented to based on guide is the utility model is related to, for being positioned in the gap between stator core and rotor core, to be across on stator slot winding or rotor line ring recess.The climbing robot includes first, second unilateral mechanism, the bindiny mechanism that both ends are connected with first, second unilateral mechanism respectively, and guiding mechanism, first, second unilateral mechanism can be adsorbed on iron core, and it can be moved on iron core, guiding mechanism includes the cylinder in first, second unilateral mechanism or bindiny mechanism and the guide for being arranged on stator core or rotor core, the both ends of guide are used for the axial both ends for being fixed on iron core, to guide the movement of cylinder, first, second unilateral mechanism and bindiny mechanism on the axial direction of iron core.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
Technical field
Electrical repair technical field is the utility model is related to, is creeped more particularly to a kind of based on what guide 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 guide
Climbing robot.
A kind of climbing robot, for being positioned in the gap between stator core and rotor core, to be across stator
On coil groove or rotor line ring recess, 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 in the described first unilateral mechanism, the second unilateral mechanism or the bindiny mechanism
Cylinder and the guide for wearing the cylinder, the both ends of the guide are used for the axle for being fixed on stator core or rotor core
To both ends, to guide the cylinder, the first unilateral mechanism, the second unilateral mechanism and bindiny mechanism in stator core or rotor core
Axial direction on movement.
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 at least one in also including the following features：
In the described first unilateral mechanism to the direction of the described second unilateral mechanism, the cylinder is located at the bindiny mechanism
Middle part；And
Spacing distance between the inwall of the outer wall of the guide and the cylinder is 2~10mm.
In one of the embodiments, the guiding mechanism also includes the first pressure sensing on the cylinder inboard wall
Device and second pressure sensor, and in the described first unilateral mechanism to the direction of the described second unilateral mechanism, first pressure
Force snesor and the second pressure sensor face interval.
In one of the embodiments, the climbing robot also includes position-limit mechanism, and the position-limit mechanism includes being located at
Limit switch in the first unilateral mechanism, the second unilateral mechanism or the bindiny mechanism, and for located at described
The end of stator core or the position limiting clamp of the end of the rotor core, the limit switch can collide with the position limiting clamp.
In one of the embodiments, it is at least one in also including the following features：
The cylinder is located at side of the bindiny mechanism away from the rotor core or the stator core；
The number of the cylinder is two, and two cylinders face interval on the bearing of trend along the guide is set
Put；
The cylinder is in cylindrical；And
The number of the limit switch is two, and two limit switches are located at relative two of the bindiny mechanism respectively
End, the number of the position limiting clamp is two, and two position limiting clamps are located at two ends of the stator core respectively, or,
Two position limiting clamps are located at two ends of the rotor core respectively.
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.
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 front view of the climbing robot of an embodiment；
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 guide
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, connect machine
Structure 34 is located above stator slot winding 12a (or rotor line ring recess 22a), and two unilateral mechanisms 32 are adsorbed in the stator coil respectively
On the stator iron bar 12b (or rotor iron bar 22b) of groove 12a (or rotor line ring recess 22a) both sides.Due to the first unilateral mechanism 32
And second unilateral mechanism 32a can adsorb on stator core 12 (or rotor core 22), can consolidate so as to climbing robot 30
Due to any position of stator core 12 (or rotor core 22), without dropping.Because the first unilateral mechanism 32 and second is single
Mechanism 32a in side can be moved respectively, when the first unilateral mechanism 32 is identical with the second unilateral mechanism 32a translational speed, creeper
Device people 30 can take the air line, and when the first unilateral 32 and second unilateral mechanism 32a of mechanism translational speed differs, creeper
Device people 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, guiding mechanism 36 include cylinder 36a and guide 36b.In the present embodiment, cylinder 36a is located at bindiny mechanism 34
On.In other embodiments, cylinder 36a can also be located on the first unilateral unilateral mechanism 32a of mechanism 32 or the second.Guide
36b is worn on cylinder 36a, and guide 36b both ends are used for the axial both ends for being fixed on stator core 12 (or rotor core 22),
To guide cylinder 36a, the first unilateral mechanism 32, the second unilateral mechanism 32a and bindiny mechanism 34 in (or the rotor iron of stator core 12
Core 22) axial direction on movement.
When using above-mentioned climbing robot 30, first it is directed to part 36b and is arranged on cylinder 36a, then by crawling machine
People 30 is positioned on stator core 12 (stator iron bar 12b), and adjusts the first unilateral 32 and second unilateral mechanism 32a's of mechanism
Position, the guide 36b being arranged on stator core 12 is then tensed, and cause guide 36b both ends are individually fixed in determine
Outside the both ends of sub- iron core 12, now, guide 36b and cylinder 36a intervals.When climbing robot 30 is to the left (to the first unilateral machine
Structure 32) or to the right (to the second unilateral mechanism 32a) after sideslip certain distance, cylinder 36a can be extruded by guide 36b, from
And prevent further sideslip.The amplitude of 30 leftward or rightward sideslip of climbing robot, by between guide 36b and cylinder 36a
Spacing distance decision, can be by controlling the spacing distance between guide 36b and cylinder 36a, it is ensured that climbing robot 30
The generally linear path of mobile route.
In addition, when climbing robot 30 breaks down immovable, block piece can be set in guide 36b one end,
Then guide 36b is pulled from the other end so that block piece is horizontal in cylinder 36a one end, then pulls guide 36b, you can
Climbing robot 30 is come out from dragging between the gap of stator module 20 and rotor assembly 30.
Further, in the present embodiment, on the first unilateral unilateral mechanism 32a of mechanism 32 to the second direction, cylinder
36a is located at the middle part of bindiny mechanism 34.When cylinder 36a is arranged on guide 36b, guide 36b outer wall and cylinder 36a
Inwall between spacing distance be 2~10mm, so as to ensure that the amplitude of the sideslip of climbing robot 30 or so is very small.
In present embodiment, when cylinder 36a is arranged on guide 36b, between guide 36b outer wall and cylinder 36a inwall
Spacing distance it is equal everywhere, so as to ensure that the amplitude of the sideslip of climbing robot 30 or so is consistent.Specifically, in this implementation
In mode, cylinder 36a is in cylindrical, without corner angle, will not block guide 36b.Cylinder 36a material is stainless steel.Lead
It is guide rope to part 36b.It should be noted that when cylinder 36a axial length very little, cylinder 36a can be considered as to be oriented to
Ring.
Further, in the present embodiment, cylinder 36a is located at bindiny mechanism 34 away from rotor core 12 or stator core 22
Side.It is appreciated that in other embodiments, cylinder 36a can also be located at bindiny mechanism 34 close to rotor core 12 or
The side of stator core 22.Cylinder 36a number is two, two cylinder 36a faces on the bearing of trend along guide 36b
It is arranged at intervals.
Advance because cylinder 36a can press guide 36b, climbing robot 30 needs to overcome cylinder 36a and guide
Frictional force between 36b, energy consumption can be increased.In order to solve the above problems, in the present embodiment, guiding mechanism 36 also includes setting
In first pressure sensor and second pressure sensor on cylinder 36a inwalls.It is and unilateral in the first unilateral mechanism 32 to the second
On mechanism 32a direction, first pressure sensor and second pressure sensor face interval.When climbing robot 30 to the left (to
First unilateral mechanism 32) after sideslip certain distance, guide 36b can extrude first pressure sensor, at this point it is possible to according to first
The instruction of pressure sensor, slow down the translational speed (the second unilateral mechanism 32a translational speed is constant) of the first unilateral mechanism 32,
Until guide 36b does not extrude first pressure sensor.By set guiding mechanism 36 can climbing robot 30 move
The generally linear path in path, and cylinder 36a can be avoided to press guide 36b advances.
Further, in the present embodiment, climbing robot 30 also includes position-limit mechanism 38, and position-limit mechanism 38 includes spacing
Switch 38a and position limiting clamp 38b.In the present embodiment, limit switch 38a is in bindiny mechanism 34.In other embodiment
In, limit switch 38a can also be located on the first unilateral unilateral mechanism 32a of mechanism 32 or the second.In the present embodiment, it is spacing
38b is pressed from both sides to be used for located at the end of stator core 12.In other embodiments, position limiting clamp 38b can be used for being located at rotor iron
The end of core 22.Limit switch 38a can collide with position limiting clamp 38b.Above-mentioned climbing robot 30 is positioned over stator core 12
One end, when climbing robot 30 is moved to the other end of stator core 12, limit switch 38a collides position limiting clamp 38b, this
When, it is believed that the maintenance or off-test of a groove, climbing robot 30 can now be automatically or manually controlled and stop movement, prevent
Only climbing robot 30 is fallen down from iron core.If necessary to carry out the maintenance or experiment of next groove, now can automatically or
Control climbing robot 30 turns to manually.
Further, in the present embodiment, limit switch 38a number is two, and two limit switch 38a are located at respectively
The relative both ends of bindiny mechanism 34, position limiting clamp 38b number is two, and two position limiting clamp 38b are respectively positioned at stator core 12
Two ends.In other embodiments, two position limiting clamp 38b can also be located at two ends of rotor core 22 respectively.
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 39 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 39 away from the second unilateral mechanism 32a is used to be electrically connected with external equipment, and the first electricity
The cable 39 of cable 37 and second is fixedly connected with bindiny mechanism 34.
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)
- A kind of 1. climbing robot being oriented to based on guide, between being positioned between stator core and rotor core In gap, to be across on stator slot winding or rotor line ring recess, it is characterised in that including：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； AndGuiding mechanism, including the cylinder in the described first unilateral mechanism, the second unilateral mechanism or the bindiny mechanism And the guide of the cylinder is worn, the both ends of the guide are used for the axial direction two for being fixed on stator core or rotor core End, to guide the cylinder, the first unilateral mechanism, the second unilateral mechanism and bindiny mechanism in stator core or the axle of rotor core To the movement on direction.
- 2. the climbing robot according to claim 1 being oriented to based on guide, it is characterised in that also include as follows It is at least one in feature：In the described first unilateral mechanism to the direction of the described second unilateral mechanism, the cylinder is located in the bindiny mechanism Portion；AndSpacing distance between the inwall of the outer wall of the guide and the cylinder is 2~10mm.
- 3. the climbing robot according to claim 1 being oriented to based on guide, it is characterised in that the Guiding machine Structure also includes first pressure sensor and second pressure sensor on the cylinder inboard wall, and in the described first unilateral machine On structure to the direction of the described second unilateral mechanism, the first pressure sensor and the second pressure sensor face interval.
- 4. the climbing robot according to claim 1 being oriented to based on guide, it is characterised in that the creeper Device people also includes position-limit mechanism, and the position-limit mechanism includes being located at the described first unilateral mechanism, the second unilateral mechanism or institute The limit switch in bindiny mechanism is stated, and for the limit located at the end of the stator core or the end of the rotor core Position folder, the limit switch can collide with the position limiting clamp.
- 5. the climbing robot according to claim 4 being oriented to based on guide, it is characterised in that also include as follows It is at least one in feature：The cylinder is located at side of the bindiny mechanism away from the rotor core or the stator core；The number of the cylinder is two, and two cylinders face on the bearing of trend along the guide is arranged at intervals；The cylinder is in cylindrical；AndThe number of the limit switch is two, and two limit switches are located at the relative both ends of the bindiny mechanism respectively, The number of the position limiting clamp is two, and two position limiting clamps are located at two ends of the stator core respectively, or, two The position limiting clamp is located at two ends of the rotor core respectively.
- 6. the climbing robot according to claim 1 being oriented to based on guide, 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.
- 7. the climbing robot according to claim 6 being oriented to based on guide, 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.
- 8. the climbing robot according to claim 6 being oriented to based on guide, 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.
- 9. the climbing robot according to claim 6 being oriented to based on guide, 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.
- 10. the climbing robot according to claim 9 being oriented to based on guide, it is characterised in that described first Driving wheel and first driven pulley engage with first crawler belt, second driving wheel and second driven pulley with it is described Second crawler belt engages.
Priority Applications (1)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108318818A (en) * | 2018-05-14 | 2018-07-24 | 贵州电网有限责任公司 | A kind of electricity generator stator core fault testing apparatus and its test method |
| CN110071607A (en) * | 2019-04-23 | 2019-07-30 | 中广核核电运营有限公司 | Generator maintenance robot |
-
2017
- 2017-08-30 CN CN201721104491.XU patent/CN207218476U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108318818A (en) * | 2018-05-14 | 2018-07-24 | 贵州电网有限责任公司 | A kind of electricity generator stator core fault testing apparatus and its test method |
| CN108318818B (en) * | 2018-05-14 | 2023-12-19 | 贵州电网有限责任公司 | Generator stator core fault testing device and testing method thereof |
| CN110071607A (en) * | 2019-04-23 | 2019-07-30 | 中广核核电运营有限公司 | Generator maintenance robot |
| CN110071607B (en) * | 2019-04-23 | 2021-01-26 | 中广核核电运营有限公司 | Generator maintenance robot |
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