CN218099500U - General type turbo generator exempts from to take out state detection robot in rotor air gap - Google Patents

Abstract

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

Description

General type turbo generator exempts from to take out state detection robot in rotor air gap

Technical Field

The utility model belongs to the detection robot field, concretely relates to general type turbo generator exempts from to take out robot that rotor air gap internal state detected.

Background

For a large steam turbine generator unit, a generator in operation bears severe working conditions, and the structure of the generator is inevitably deteriorated and damaged; in particular the stator, rotor part as the main power generating component. In order to prevent serious consequences caused by damage to the main structure of the generator, the internal key components of the generator must be inspected regularly and comprehensively. Conventionally, the rotor is extracted from a stator bore of the generator, and stator slot wedge tightness inspection, stator insulation test and stator/rotor surface state inspection are carried out. However, the pumping and penetrating of the generator rotor requires a long shutdown and maintenance time of the generator, which affects the economy of the turbo generator set. And the rotor of a large generator weighs tens of tons, and the operation of drawing and penetrating the rotor has great safety risk, which may cause equipment and personnel damage in the drawing and penetrating processes. The automatic state detection device in the air gap of the rotor without pumping of the generator can enter the air gap (annular chamber) between the stator and the rotor under the condition of not pumping the rotor, complete the state detection work of the stator and the rotor of the generator, and reduce the shutdown maintenance time of the generator and the risk of pumping and penetrating the rotor. Because of the difference of cooling methods, the turbonator is generally divided into two types, namely a stator with an air isolating ring and a stator without an air isolating ring. The conventional generator intracavity detection device can only work on the inner surface of a stator without an air isolating ring by crawling, and cannot detect a generator with the stator air isolating ring (as shown in figure 1).

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a state inspection robot in rotor air gap is exempted from to take out by general type turbo generator can get into stator rotor air gap (annular cavity) that generator rotor/stator constitutes under the state of not taking out the rotor in, carries out stator slot wedge elasticity inspection, stator insulation test and stator/rotor surface defect inspection, effectively shortens the generator and shuts down the repair time, reduces the generator and takes out the rotor and overhaul the risk.

The technical scheme of the utility model as follows: the robot comprises a robot body, driving modules and sensor lifting modules, wherein the two sides of the robot body are respectively provided with one driving module, and the robot body is provided with the sensor lifting modules.

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

The drive module totally two, every drive module all includes bearing structure, bearing structure include frame and apron, the apron is established on the frame, has processed the rotation hole respectively on the outside of two tip of frame, the inboard of two tip of frame is provided with the band pulley supporting seat, is fixed with the band pulley on the band pulley supporting seat at both ends respectively, through driving the meshing operation of tooth type track between two band pulleys.

The bottom of the frame and the upper cover plate are respectively provided with a long groove, and the crawler belt passes through the long groove at the bottom of the frame and protrudes from the bottom of the frame.

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

One of the two belt wheels is connected with a driving speed reduction motor to play a driving role, and the driving speed reduction motor is fixed on a base of the robot body through a motor mounting seat.

The sensor lifting module comprises two sets of support driving mechanisms and a connecting rod support, and the support driving mechanisms are connected with the connecting rod support.

The connecting rod support comprises a connecting rod and a rocker, and the connecting rod is hinged with the middle of the rocker.

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

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

The rocker is provided with a sensor base, a slot wedge tightness sensor is arranged in the middle of the sensor base, the sensor base is of a plate-shaped structure, the two sides of the upper portion of the sensor base are of inverted-mountain-shaped structures respectively, two interval maintaining rollers are arranged on the two inverted-mountain-shaped structures respectively, a first ELCID sensor support is arranged on the left side of the sensor base on the sensor base, a second ELCID sensor support is arranged on the right side of the sensor base on the sensor base, and ELCID sensors are arranged on the first ELCID sensor support and the second ELCID sensor support respectively.

The beneficial effects of the utility model reside in that:

1) The utility model discloses a when large-scale generating set overhaul, need not to take out the rotor operation and can carry out comprehensive detection to stator, rotor, avoided frequently taking out the economic loss and the accident risk that wear the rotor and bring.

2) The utility model discloses use a robot can cover current mainstream generator type promptly, the stator area separates the wind ring promptly and does not take two types of wind ring that separate.

3) The utility model discloses a drive module has rotatory adaptive structure, can be 0 ~ 20 with the plane contained angle scope of robot body for the robot can creep on different external diameter size's rotor.

4) The utility model discloses can adapt to the not generator stator-rotor ring cavity clearance of co-altitude, minimum 35mm, the biggest 110mm that can reach.

5) The utility model discloses can adjust the interval of two ELCID inductors on the left and right sides, adapt to the stator insulating properties test demand of different stator slot wedge widths, adjustable interval scope is 80 ~ 120mm.

Drawings

FIG. 1 is a schematic diagram of a conventional generator intracavity detection device that only crawls within a flat stator bore;

FIG. 2 is a schematic view of a universal generator rotor-extracting-free detection robot in a detection mode;

FIG. 3 is a schematic view of a universal generator rotor-extracting-free detection robot in a "pass-through mode";

FIG. 4 is a rear view of the robot within the generator ring cavity;

fig. 5 is a main structure view of the universal turbonator non-pumping rotor air gap internal state detection robot provided by the utility model;

FIG. 6 is an exploded view of the general-purpose turbo generator rotor-extraction-free inner-air-gap state detection robot provided by the present invention;

fig. 7 is a diagram of a sensor lift module.

In the figure: 111 generator stator without wind-proof ring, 112 stator-rotor ring cavity gap, 113 generator rotor, 114 conventional stator crawling detection device, 211 generator stator with wind-proof ring, 212 stator-rotor ring cavity minimum gap, 213 generator rotor, 214 detection robot, wind-proof ring on 215 stator, 216 stator-rotor ring cavity maximum gap, 217 stator slot wedge, 218 stator silicon steel sheet, 219 rotor core, 310 robot body structure, 311 front wind-proof ring sensor, 312 camera group, 313 rear camera, 314 rear wind-proof ring sensor, 315 swing shaft, 316 upper cover plate, 317 drive module motor mount, 318 embedded cid controller, 319 side support baffle, 320 robot drive module, 321 permanent magnet absorber, 322 track, 323 drive wheel assembly, 324 gimbal, 325 pulley drive speed reduction motor, 326 drive module rotation hole, 327 frame, 328 upper cover plate, 329 pulley, 330 sensor lift module, 331 slot wedge tightness sensor, 332 first ELCID sensor mount, 333, second ELCID sensor mount, 338 drive motor mount, 412, rocker drive motor mount, 123 drive module rotation hole, 123 drive nut mount, 412, 119 rocker drive motor mount, 412, rocker drive motor mount 412, 119, and link mount 414.

Detailed Description

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

The utility model discloses a general type generator exempts from to take out state detection robot in rotor air gap is applicable to two types of generators of current, especially the unable generator (as shown in figure 2) that detect of conventional device's band stator wind-proof ring.

As shown in fig. 5 and 6, a robot for detecting the state of a rotor cavity without pumping a generator comprises a robot body 310, a driving module 320 and a sensor lifting module 330. Two sides of the robot body 310 are respectively provided with a driving module 320, and a sensor lifting module 330 for stator detection is carried on the robot body 310.

As shown in fig. 5, the main body of the robot body 310 is an integrally formed base, and the base includes a front beam and a rear beam, an upper cover plate 316, and a bottom plate connected to the front beam and the rear beam, respectively, and the upper cover plate 316 covers the front beam and the rear beam. A camera group 312 is arranged on the front beam of the base, and the camera group 312 comprises 3 camera modules positioned in the front, above and below; a camera module 313 is arranged on the back beam of the base; the base is provided with 4 camera modules, wherein each camera module comprises a zoom lens and an illumination LED lamp, and is an integrated structure module, and the camera modules and the illumination can be separated into two elements. The camera group 312 on the front beam of the robot body 310 is provided with 3 cameras, and large-range state observation of the inner cavity of the generator in front of the robot, air hole inspection of the rotor slot wedge below and stator slot wedge inspection above can be respectively realized; the camera module 313 on the back beam of the robot body 310 can realize the large-range state observation of the inner cavity of the generator behind the robot.

A front wind-isolating ring inductor 311 and a rear wind-isolating ring inductor 314 are further respectively arranged on the robot body 310 in front and rear positions of the sensor lifting module 330, the wind-isolating ring inductors are used for detecting the positions of the stator wind-isolating rings when the robot walks in a generator stator/rotor air gap ring cavity, the front wind-isolating ring inductor 311 and the rear wind-isolating ring inductor 314 are both capacitive proximity switches, and once a close-range metal structure vertical to the upper surface of the robot is sensed, a switching value signal is sent; the sensor may also be an inductive, magnetic, photoelectric proximity switch or a range finder. The left side and the right side of the robot body 310 are respectively provided with 2 swinging rotating shafts 315 which are matched with the rotating holes 326 on the driving modules 320 at the left side and the right side, so that the driving modules 320 can freely deflect at an angle relative to the body 310; the maximum deflection angle of the drive module 320 is 20 ° due to the support of the body side dam 319. When the robot climbs on the generator rotors with different diameters, the driving module 320 is self-adaptively deflected by a small angle under the action of the adsorption force to ensure that the bottom surface of the module is in tangential contact with the rotors.

Four connecting rotating shafts are symmetrically arranged on four corners of the base, a left driving module and a right driving module are respectively arranged on the robot body 310 through 2 connecting rotating shafts on the left side and the right side, and the driving modules can adjust the plane included angle between the driving modules and the robot body within the range of 0-20 degrees around the rotating shafts so as to be self-adaptive to generator rotors with different sizes.

As shown in fig. 6, there are two driving modules 320, each driving module 320 includes a supporting structure, the supporting structure includes an open square frame 327 and a cover plate 328, the cover plate 328 is fixed on the frame 327, rotating holes 326 are respectively formed on outer sides of two ends of the frame 327, and pulley supporting seats 329 are respectively disposed on inner sides of two ends of the frame 327. The belt wheel support 329 at the two ends is respectively fixed with a belt wheel 323, the two belt wheels 323 are meshed with each other through a driving toothed belt track 322 to run, the bottom of the frame 327 and the upper cover plate 328 are respectively provided with a long groove, and the belt track 322 passes through the long groove at the bottom of the frame 327, protrudes from the bottom of the frame 327 and is in direct contact with the generator rotor (as shown in fig. 4). Permanent magnetism adsorbent 321 passes through the upside of fix with screw in frame 327 bottom, and permanent magnetism adsorbent 321 in this embodiment is four, and magnetic force sees through the track and adsorbs the whole robot on generator rotor, and the magnetic adsorption power size guarantees that whole robot hangs down in the rotor bottom surface, still can not drop, and magnetic force is adjusted to the quantity of accessible permanent magnetism adsorbent 321. Only one of the two belt wheels 323 on each driving module is connected with a driving speed reduction motor 325 to play a driving role, the other belt wheel is a driven idle wheel, the driving wheel in the embodiment is a belt wheel arranged near the back beam, and the belt wheel driving speed reduction motor 325 is fixed on the base of the robot body 310 through a motor mounting seat. An output shaft of the driving motor 325 and an input shaft of the pulley 323 are connected by a universal joint 324 to accommodate a deflection angle between the driving module 320 and the robot body 310.

As shown in fig. 6 and 7, the sensor lift module 330 for stator detection includes two sets of carriage drives and link carriages 338. The carriage drive mechanism is coupled to a link carriage 338. The bracket driving mechanism comprises a driving nut 337, a driving screw 336 and a speed reduction motor 334 for driving the bracket. The driving motor 334 is connected with the driving screw 336 through a coupler 335, the driving screw 336 is engaged with a driving nut 337, one end of the connecting rod 416 is connected with the driving nut 337, when the driving motor 334 drives the screw 336 to rotate, the driving nut 337 performs linear motion along the screw 336 to drive the connecting rod 416 to rotate, the connecting rod 416 is hinged with the middle of the rocker 415 to form a connecting rod support 338, the connecting rod 416 drives the rocker 415 to rotate, one end of the rocker 415 is fixed on the base of the robot body 310 through a support mounting seat 339, two ends of the screw 336 are also fixed on the base of the robot body 310 through the support mounting seat 339, the support driving mechanism can also adopt a telescopic cylinder to replace the motor 334, the linear guide rail replaces the screw 336, the guide rail slider replaces the driving nut 337, the telescopic cylinder is connected with the linear guide rail, the guide rail slider is mounted on the linear guide rail, and the guide rail slider is connected with the connecting rod 416.

The rocker 415 is mounted with a sensor base 411 which ascends or descends according to the rotation of the rocker 415. The slot wedge tightness sensor 331 is installed in the middle of the sensor base 411, strikes the generator stator slot wedge, detects and analyzes the striking sound, and judges the tightness of the stator slot wedge. The sensor base 411 has a plate-shaped structure, two sides of the upper portion of the sensor base are respectively of an inverted-mountain-shaped structure, two spacing rollers 412 are respectively mounted on the two inverted-mountain-shaped structures, a first ELCID sensor support 332 is mounted on the left side of the sensor base 411 on the two sides of the sensor base, and a second ELCID sensor support 333 is mounted on the right side of the sensor base. The first ELCID inductor bracket 332 and the second ELCID inductor bracket 333 are respectively provided with an ELCID inductor 413, the end face of the ELCID inductor 413 is required to be as close to the silicon steel sheets on two sides of the stator slot wedge as possible, and in order to avoid abrasion and incapability of being tightly attached, the distance between the end face of the inductor and the surface of the stator silicon steel sheet is required to be strictly controlled to be about 1 mm; the force of the tap of the wedge tightness sensor 331 is also related to the distance between the sensor and the stator wedge surface. Before the robot is sent into the ring cavity of the generator to work, the height difference between the top end surfaces of the slot wedge tightness sensor 331 and the ELCID sensor 413 and the top point of the spacing maintaining roller 412 on the sensor base is adjusted. When the sensor base 411 is raised to the top, the pitch maintaining roller 412 is in contact with the inner ring surface of the generator stator. At the moment, the distance between the end face of the slot wedge tightness sensor and the ELCID sensor and the inner ring face of the stator is just in the optimal working distance and is kept unchanged in the whole detection process. When the robot is in the "inspection mode", the apex of the space maintaining roller 412 is in close contact with the inner surface of the stator, thereby controlling the distance between the top end surface of the slot wedge tightness sensor 331, the ELCID sensor 413, and the inner ring surface of the stator (as shown in fig. 4). The sensor base 411 is further provided with substrate kidney-shaped holes 414 at left and right sides thereof, and the distance between the first ELCID inductor support 332 and the second ELCID inductor support 333 at left and right sides thereof (as shown in fig. 7) can be adjusted by the installation position on the substrate kidney-shaped holes 414, so as to adapt to different stator slot wedge widths and ensure that the ELCID inductors are aligned to the centers of the silicon steel sheets at both sides of the stator slot wedge (as shown in fig. 4).

The speed reduction motor drives the screw to rotate, drives the nut to do linear motion and the connecting rod mechanism to rotate, and enables the sensor base to ascend or descend; the lifting height range is 35-110 mm from the top surface of the base to the bottom surface of the robot, so that the lifting robot is suitable for generator sets with different sizes of stator and rotor air gaps (annular cavities).

As shown in fig. 6, the embedded controller 318 of the robot is mounted on the base of the robot body 310, and the controller 318 sends command signals to the hammer mechanism on the support driving gear motor 334, the pulley driving gear motor 325, and the slot wedge tightness sensor 331, and receives the driving current feedback signals of the front wind isolation ring sensor 311, the rear wind isolation ring sensor 314, the support motor 334, and the encoder position feedback signal of the pulley motor 325. Meanwhile, the robot system also comprises an upper computer which is used for receiving and storing real-time data of each state detection sensor on the robot, wherein the real-time data comprises image data of all cameras 312 and 313, sound signals returned by the slot wedge tightness sensor 331, current signals of the ELCID sensor 413 and operation data of the robot controller. When the robot works, the upper computer is positioned outside the ring cavity of the generator and is connected with the robot controller through the Ethernet cable.

Claims (11)

1. General type turbo generator exempts from to take out state detection robot in rotor air gap, its characterized in that: the robot comprises a robot body, driving modules and sensor lifting modules, wherein the two sides of the robot body are respectively provided with one driving module, the robot body is provided with the sensor lifting modules, and a main body of the robot body is an integrated processing and forming base.

2. The general type turbo generator extraction-free rotor air gap inner state detection robot of claim 1, characterized in that: the base comprises a front beam, a rear beam, an upper cover plate and a bottom plate, wherein the bottom plate is connected with the front beam and the rear beam respectively, the upper cover plate covers the front beam and the rear beam, the front beam is provided with a camera group, and the rear beam is provided with a camera module.

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

4. The general type turbo generator of claim 3 does not take out interior state detection robot of rotor air gap, characterized by: the bottom of the frame and the upper cover plate are respectively provided with a long groove, and the crawler belt passes through the long groove at the bottom of the frame and protrudes from the bottom of the frame.

5. The general type turbo generator of claim 3 does not take out interior state detection robot of rotor air gap, characterized by: the upper side of the bottom of the frame is provided with a permanent magnetic adsorption body.

6. The general type turbo generator extraction-free rotor air gap inner state detection robot of claim 3, characterized in that: one of the two belt wheels is connected with a driving speed reduction motor to play a driving role, and the driving speed reduction motor is fixed on a base of the robot body through a motor mounting seat.

7. The general type turbo generator extraction-free rotor air gap inner state detection robot of claim 1, characterized in that: the sensor lifting module comprises two sets of support driving mechanisms and a connecting rod support, and the support driving mechanisms are connected with the connecting rod support.

8. The general type turbo generator extraction-free rotor air gap inner state detection robot of claim 7, characterized in that: the connecting rod support comprises a connecting rod and a rocker, and the connecting rod is hinged with the middle of the rocker.

9. The general type turbo generator extraction-free rotor air gap inner state detection robot of claim 7, characterized in that: the support driving mechanism comprises a driving nut, a driving screw and a speed reducing motor used for driving the support, the speed reducing motor is connected with the driving screw through a coupler, the driving nut is meshed on the driving screw, one end of a connecting rod is connected with the driving nut, when the speed reducing motor drives the screw to rotate, the driving nut carries out linear motion along the screw and drives the connecting rod to rotate, the connecting rod is hinged with the middle of a rocker and forms a connecting rod support, the connecting rod drives the rocker to rotate, one end of the rocker is fixed on a base of the robot body through a support mounting seat, and two ends of the screw are also fixed on the base of the robot body through the support mounting seat.

10. The general type turbo generator extraction-free rotor air gap inner state detection robot of claim 7, characterized in that: the support driving mechanism comprises a telescopic cylinder, a linear guide rail and a guide rail sliding block, the telescopic cylinder is connected with the linear guide rail, the guide rail sliding block is installed on the linear guide rail, and the guide rail sliding block is connected with the connecting rod.

11. The general type turbo generator extraction-free rotor air gap inner state detection robot of claim 8, characterized in that: the rocker is provided with a sensor base, a slot wedge tightness sensor is arranged in the middle of the sensor base, the sensor base is of a plate-shaped structure, the two sides of the upper portion of the sensor base are respectively of an inverted-Chinese-character-shaped structure, two interval maintaining rollers are respectively arranged on the two inverted-Chinese-character-shaped structures, a first ELCID sensor support is arranged on the left side of the sensor base on the upper portion of the sensor base, a second ELCID sensor support is arranged on the right side of the sensor base on the upper portion of the sensor base, and ELCID sensors are respectively arranged on the first ELCID sensor support and the second ELCID sensor support.

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