CN109677495B - Power driving module for detecting ultra-thin wall-climbing robot in generator stator bore - Google Patents
Power driving module for detecting ultra-thin wall-climbing robot in generator stator bore Download PDFInfo
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- CN109677495B CN109677495B CN201811568826.2A CN201811568826A CN109677495B CN 109677495 B CN109677495 B CN 109677495B CN 201811568826 A CN201811568826 A CN 201811568826A CN 109677495 B CN109677495 B CN 109677495B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention provides a power driving module for detecting an ultrathin wall-climbing robot in a generator stator bore, wherein a driving module framework is provided with a rotatable front crawler driving wheel and a rotatable rear crawler driving wheel, and a crawler is tensioned on the front crawler driving wheel and the rear crawler driving wheel; the motor is embedded into the framework of the driving module and is connected with the front crawler driving wheel and the encoder through the externally-hung gear box; the permanent magnet is embedded in the bottom layer of the framework of the driving module through the magnetic shielding lining plate; an elastic support used for installing the magnetic induction coil is arranged at the rear end of the framework of the driving module. The permanent magnets are used for providing magnetic attraction, the permanent magnets are suspended on two sides of the wall-climbing robot body and can rotate around the longitudinal axis of the wall-climbing robot body, and the crawler belt on the power driving module is ensured to be tightly attached to the adsorption surface, so that the wall-climbing robot is firmly adsorbed in a stator bore of the generator and climbs forwards and backwards along a slot wedge in the stator bore, and various different tasks are executed. The module is integrated with an encoder and a magnetic induction coil support, and is used for installing a magnetic induction coil and providing distance information for the wall-climbing robot controller.
Description
Technical Field
The invention relates to an ultra-thin wall-climbing robot for detecting a generator stator bore, in particular to a power driving module for detecting the ultra-thin wall-climbing robot in the generator stator bore.
Background
At present, in industrial production and daily life, objects with vertical or inclined surfaces, such as large tanks, pipe walls or large mechanical equipment, need to be detected or detected frequently, and the environment for carrying out the operations is often severe or limited in height, and direct manual detection cannot be carried out or is not suitable. The wall-climbing robot is a special robot, has the function of performing special operation in severe environments such as inclined and vertical wall surfaces, and can be used for dangerous, heavy and unskilled work. For example: the cleaning wall climbing robot that oil tank jar wall detected among petrochemical enterprise, the wall climbing robot that detects a flaw of nuclear equipment detection among the nuclear industry, the wall climbing robot is washd to high-rise curtain wall among the building industry, welding, rust cleaning, spraying wall climbing robot among the shipbuilding industry.
In the power industry, power plant equipment is often used for a long time. In long-term operation of a large generator set, due to aging, vibration, abrasion and the like, stator slot wedges are loosened, insulation is damaged, and an iron core is abraded. If the problems are not discovered in time, the safe operation of the generator is threatened, and even the motor operation accident is caused. Therefore, the tightness state, the insulation state and the iron core abrasion condition of the slot wedge in the stator bore of the generator are regularly detected, and the method has important significance for normal operation of the motor. The traditional detection method needs to extract the rotor of the generator, people carry detection equipment to enter the generator for detection, a large amount of manpower and material resources need to be consumed, the detection period is long, and the production stop loss caused during the overhaul period is large. The wall-climbing robot is used for detecting the inside of the stator bore of the generator, the robot can enter the stator bore of the generator under the condition that a rotor of the generator is not drawn out, and the performance of the generator is detected by carrying different detection devices.
The driving module of the wall-climbing robot is one of the most critical parts of the wall-climbing robot for detecting in the stator bore of the generator. The wall-climbing robot is used for firmly adsorbing the wall-climbing robot in a stator chamber of the generator and driving the wall-climbing robot to operate. The wall climbing robot is not dropped when carrying various detection equipment in each position operation in the stator bore, and the flexibility of robot crawling is guaranteed again. The wall-climbing robot driving module with the functions is not available in the prior art.
Disclosure of Invention
The invention aims to provide a wall-climbing robot driving module which is responsible for firmly attaching a wall-climbing robot to a stator bore of a generator and driving the wall-climbing robot to operate, so that the wall-climbing robot does not fall off when operating in each direction in the stator bore under the condition of carrying various detection devices, and the flexibility of robot crawling is ensured.
In order to solve the technical problem, the technical scheme of the invention is to provide a power driving module for detecting an ultra-thin wall-climbing robot in a generator stator bore, which is characterized in that: the crawler belt type crawler belt driving device comprises a driving module framework, wherein a front crawler belt driving wheel and a rear crawler belt driving wheel which can rotate are arranged on the driving module framework, and a crawler belt is tensioned on the front crawler belt driving wheel and the rear crawler belt driving wheel; the motor is embedded into the driving module framework and connected with the external gear box, and the external gear box is connected with the front crawler driving wheel and the encoder;
a lining plate with magnetic shielding property is embedded in the bottom layer of the driving module framework, and the permanent magnet is fixed on the lining plate; the elastic support used for installing the magnetic induction coil is arranged at the rear end of the driving module framework, and the driving module framework is provided with a spring used for bouncing the elastic support.
Preferably, the middle of the driving module framework is provided with a hollow part, the front end and the rear end of the hollow part are respectively provided with a front crawler driving wheel and a rear crawler driving wheel, and the crawler penetrates through the hollow part in the middle of the driving module framework and is sleeved on the front crawler driving wheel and the rear crawler driving wheel.
Preferably, a front guide shaft is arranged on two sides of the front crawler driving wheel, and two ends of the front crawler driving wheel are inserted into bearings embedded in the framework of the driving module through steel sleeves sleeved on the front guide shaft.
Preferably, the front track driving wheel is provided with retaining rings on both sides.
Preferably, rear guide shafts are arranged on two sides of the rear crawler driving wheel, and the rear guide shafts at two ends of the rear crawler driving wheel penetrate through the circular metal stop block and then are inserted into kidney-shaped holes in the framework of the driving module; the outer side of the waist-shaped hole on the framework of the driving module is sealed by a cover plate.
Preferably, two sides of the track on the upper part of the driving module framework are provided with a stop block.
Preferably, eight permanent magnets are arranged, every four permanent magnets form a group, two groups of permanent magnets are fixed on a lining plate with magnetic shielding property, and a magnetic blocking block is arranged between the two groups of permanent magnets.
Preferably, the external gear box is fixed on one side of the driving module framework, and brass cover plates are fixed on the other side of the driving module framework and the symmetrical positions of the external gear box.
Preferably, the elastic support is made of polytetrafluoroethylene material.
Preferably, the elastic support is formed by connecting a cylindrical lower part with a smaller diameter and a cylindrical upper part with a larger diameter, the cylindrical lower part is inserted into a hollow round hole at the rear end of the framework of the driving module, and springs used for bouncing the cylindrical upper part of the elastic support are arranged around the hollow round hole.
The permanent magnets are used for providing magnetic attraction, the permanent magnets are suspended on two sides of the wall-climbing robot body and can rotate around the longitudinal axis of the wall-climbing robot body, and the crawler belt on the power driving module is ensured to be tightly attached to the adsorption surface, so that the wall-climbing robot is firmly adsorbed in a stator bore of the generator and climbs forwards and backwards along a slot wedge in the stator bore, and various different tasks are executed. The power driving module is further integrated with an encoder and an elastic magnetic induction coil support for installing a magnetic induction coil and providing distance information for the wall-climbing robot controller.
Drawings
FIG. 1 is a top view of an ultra-thin wall-climbing robot for detection in a generator stator bore, showing the wall-climbing robot and a head, a cross beam, a drive module and a tail module;
fig. 2 is a top view of a frame structure of the ultra-thin wall-climbing robot for detecting in a stator bore of a generator, showing the frame structure and various modules of the wall-climbing robot, including a head camera module, a driving module and a tail module;
fig. 3 is a structural view of connection between a power driving module and a vehicle body framework of the ultra-thin wall-climbing robot for detection in a generator stator bore according to the present embodiment;
fig. 4 is an exploded view of a power driving module of the ultra-thin wall-climbing robot for detecting the inside of a stator bore of the generator provided by the embodiment.
Detailed Description
The invention will be further illustrated with reference to the following specific examples.
Referring to fig. 1 and 2, the ultra-thin wall-climbing robot for detecting the inside of the stator bore of the generator consists of a head camera module 8, a front end supporting beam 26, power driving modules 22 and 23, a middle longitudinal beam 16, a tail supporting beam 18 and a tail handle 30. The ultra-thin wall climbing robot integrally adopts a modular design, and each module can be independently split and combined. The installation and the change spare part of being convenient for can change different detection sensor according to the demand simultaneously and carry out the operation of different categories.
The power driving modules are generally arranged in pairs, for example, the power driving modules 22 and 23 are arranged in pairs in fig. 3 and are respectively positioned at two sides of the middle longitudinal beam 16, and the external gear boxes 9 and 10 are arranged at the outer sides of the power driving modules 22 and 23. The front end and the rear end of the middle longitudinal beam 16 are respectively connected with the front end supporting cross beam 26 and the tail end supporting cross beam 18, two rotating shafts 41 at the rear part of the front end supporting cross beam 26 are inserted into the counter bores at the front ends of the power driving modules 22 and 23, and two rotating shafts 39 at the front part of the tail end supporting cross beam 18 are inserted into the counter bores at the rear ends of the power driving modules 22 and 23, so that each power driving module can rotate around the rotating shafts by a certain radian, and the wall climbing robot can be ensured to be firmly adsorbed along the corresponding radian during non-planar operation.
The invention relates to a power driving module for detecting an ultra-thin wall-climbing robot in a stator bore of a generator, which is used as a part of the ultra-thin wall-climbing robot for detecting in the stator bore, provides magnetic attraction and driving force for the robot during working, and is integrated with an elastic magnetic induction coil support for installing a magnetic induction coil.
Fig. 4 is a schematic diagram of a power driving module for detecting an ultra-thin wall-climbing robot in a generator stator bore according to this embodiment, the power driving module for detecting the ultra-thin wall-climbing robot in the generator stator bore includes a driving module framework 85, a hollow portion is disposed in the middle of the driving module framework 85, a front crawler driving wheel 52 and a rear crawler driving wheel 79 are respectively disposed at front and rear ends of the hollow portion, and a crawler 74 penetrates through the hollow portion in the middle of the driving module framework 85 and is sleeved on the front crawler driving wheel 52 and the rear crawler driving wheel 79.
The front guide shafts 27 are arranged on two sides of the front track driving wheel 52, and two ends of the front track driving wheel 52 are inserted into two bearings 78 embedded on two sides of the driving module framework 85 through steel sleeves 77 sleeved on the front guide shafts 27, so that the concentricity and the rotation flexibility of the two bearings are ensured. One retaining ring 4 is mounted on each side of the front track drive wheel 52 and the retaining rings 4 are secured to the front track drive wheel 52 using 3 bolts 62.
Two stops 20 are provided on each side of the upper track 74 of the drive module frame 85, and together with the retainer 4 and the stops 75, are used to retain the track 74 and prevent the track 74 from slipping out during rotation.
Eight permanent magnets 35 are embedded in the middle bottom layer of each driving module framework 85, and every four permanent magnets are in a group and fixed on a lining plate 2 with magnetic shielding property to be embedded in the driving module framework 85. The lining plate 2 is used for shielding magnetism above the power driving module and preventing interference to transmission signals. The magnetic blocking block 3 is positioned between the two groups of eight permanent magnets and is fixed on the lining plate 2 through four countersunk head bolts 60. The magnetic circuit between adjacent permanent magnets is isolated, and the crawler belt 74 below the magnetic circuit is supported to a certain degree.
To reduce the width of the drive module, the motor 34 is mounted in a manner that is embedded in the drive module frame 85, perpendicular to the drive module axis. The motor 34 is connected to the front track drive wheel 52 through the externally hung gearbox 10. The external gearbox 10 is fixed to one side of the drive module frame 85 using four hexagon socket head cap screws 68. The other side of the driving module framework 85 and the symmetrical position of the external gear box 10 are provided with a brass cover plate 5 which is arranged on the driving module framework 85 by using 4 bolts 73 and is used for sealing the bearing 78 and enhancing the strength of the driving module framework 52.
The external gear box 10 is also connected with the encoder 32 through gears. The encoder 32 is used for sending a pulse signal corresponding to the rotation of the motor 34, and the controller calculates the real-time distance of the wall climbing robot according to the received pulse signal.
A circular hollow elastic support 15 for installing magnetic induction coil installs the rear end at drive module skeleton 85, and elastic support 15 uses wear-resisting polytetrafluoroethylene material, and it inserts in the fretwork round hole of drive module skeleton 85 rear end by the lower part, and three spring 38 is placed all around to the round hole for bounce elastic support 15, its effect is to guarantee magnetic induction coil and stator bore inner wall stable contact after installing magnetic induction coil.
It should be understood that the terms of orientation of up, down, left, right, front, back, top, bottom, etc., referred to or may be referred to in this specification, are defined relative to the configuration shown in the drawings, and are relative terms, and thus may be changed accordingly depending on the position and the use state of the device. Therefore, these and other directional terms should not be construed as limiting terms.
While the invention has been described with respect to a preferred embodiment, it will be understood by those skilled in the art that the foregoing and other changes, omissions and deviations in the form and detail thereof may be made without departing from the scope of this invention. Those skilled in the art can make various changes, modifications and equivalent arrangements, which are equivalent to the embodiments of the present invention, without departing from the spirit and scope of the present invention, and which may be made by utilizing the techniques disclosed above; meanwhile, any changes, modifications and variations of the above-described embodiments, which are equivalent to those of the technical spirit of the present invention, are within the scope of the technical solution of the present invention.
Claims (10)
1. The utility model provides a detect power drive module of ultra-thin type wall climbing robot in generator stator thorax which characterized in that: the crawler belt type crawler belt driving device comprises a driving module framework (85), wherein a rotatable front crawler belt driving wheel (52) and a rotatable rear crawler belt driving wheel (79) are arranged on the driving module framework (85), and a crawler belt (74) is tensioned on the front crawler belt driving wheel (52) and the rear crawler belt driving wheel (79); the motor (34) is embedded into the driving module framework (85), the motor (34) is connected with the external gear box (10), and the external gear box (10) is connected with the front crawler driving wheel (52) and the encoder (32);
the bottom layer of the driving module framework (85) is embedded with a lining plate (2) with magnetic shielding property, and the permanent magnet (35) is fixed on the lining plate (2); an elastic support (15) used for installing the magnetic induction coil is arranged at the rear end of the drive module framework (85), and a spring (38) used for bouncing the elastic support (15) is arranged on the drive module framework (85).
2. The power driving module for detecting the ultra-thin type wall-climbing robot in the generator stator bore according to claim 1, wherein: the middle of the driving module framework (85) is provided with a hollow part, the front end and the rear end of the hollow part are respectively provided with a front crawler driving wheel (52) and a rear crawler driving wheel (79), and the crawler (74) penetrates through the hollow part in the middle of the driving module framework (85) and is sleeved on the front crawler driving wheel (52) and the rear crawler driving wheel (79).
3. The power driving module for detecting the ultra-thin type wall-climbing robot in the generator stator bore according to claim 1, wherein: front guide shafts (27) are arranged on two sides of the front crawler driving wheel (52), and two ends of the front crawler driving wheel (52) are inserted into bearings (78) embedded in a driving module framework (85) through steel sleeves (77) sleeved on the front guide shafts (27).
4. The power driving module for detecting the ultra-thin type wall-climbing robot in the stator bore of the generator according to claim 1 or 3, wherein: and two sides of the front crawler driving wheel (52) are provided with check rings (4).
5. The power driving module for detecting the ultra-thin type wall-climbing robot in the generator stator bore according to claim 1, wherein: rear guide shafts (46) are arranged on two sides of the rear crawler driving wheel (79), and the rear guide shafts (46) at two ends of the rear crawler driving wheel (79) penetrate through the circular metal stop block (75) and then are inserted into kidney-shaped holes in the driving module framework (85); the outer side of the waist-shaped hole on the driving module framework (85) is sealed by a cover plate.
6. The power driving module for detecting the ultra-thin type wall-climbing robot in the generator stator bore according to claim 1, wherein: and two sides of the crawler belt (74) at the upper part of the driving module framework (85) are provided with stop blocks (20).
7. The power driving module for detecting the ultra-thin type wall-climbing robot in the generator stator bore according to claim 1, wherein: eight permanent magnets (35) are arranged, every four permanent magnets (35) form a group, two groups of permanent magnets are fixed on a lining plate (2) with magnetic shielding property, and a magnetic blocking block (3) is arranged between the two groups of permanent magnets.
8. The power driving module for detecting the ultra-thin type wall-climbing robot in the generator stator bore according to claim 1, wherein: the external gear box (10) is fixed on one side of the driving module framework (85), and brass cover plates (5) are fixed on the other side of the driving module framework (85) and the external gear box (10) in symmetrical positions.
9. The power driving module for detecting the ultra-thin type wall-climbing robot in the generator stator bore according to claim 1, wherein: the elastic support (15) is made of polytetrafluoroethylene materials.
10. The power driving module for detecting the ultra-thin type wall-climbing robot in the stator bore of the generator according to claim 1 or 9, wherein: elastic support (15) are connected by the cylindrical lower part that the diameter is less and the cylindrical upper portion that the diameter is great and constitute, during the fretwork round hole of cylindrical lower part insertion drive module skeleton (85) rear end, the fretwork round hole sets up spring (38) that are used for the cylindrical upper portion of bounce elastic support (15) all around.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811568826.2A CN109677495B (en) | 2018-12-21 | 2018-12-21 | Power driving module for detecting ultra-thin wall-climbing robot in generator stator bore |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811568826.2A CN109677495B (en) | 2018-12-21 | 2018-12-21 | Power driving module for detecting ultra-thin wall-climbing robot in generator stator bore |
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| CN109677495A CN109677495A (en) | 2019-04-26 |
| CN109677495B true CN109677495B (en) | 2021-05-11 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111845993B (en) * | 2020-08-21 | 2023-05-09 | 无锡中车时代智能装备研究院有限公司 | Rotor crawling type in-bore detection robot device for generator |
| CN112798238B (en) * | 2020-12-21 | 2023-03-21 | 上海电气电站设备有限公司 | Slot wedge elasticity automatic checkout device |
| CN114148427A (en) * | 2021-12-02 | 2022-03-08 | 上海电气自动化设计研究所有限公司 | Detection wall-climbing robot in generator set chamber without pumping rotor |
| CN114104137A (en) * | 2021-12-02 | 2022-03-01 | 上海电气自动化设计研究所有限公司 | Remote control detection vehicle using magnetic adsorption through non-flat ferromagnetic surface |
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| JPH10109862A (en) * | 1996-10-02 | 1998-04-28 | Sooken:Kk | Chair inclined type ascent and descent device |
| CN1375437A (en) * | 2002-04-29 | 2002-10-23 | 清华大学 | Crawler for magnetically adsorbed wall-climbing robot |
| CN101092151A (en) * | 2007-07-24 | 2007-12-26 | 于复生 | Wall-climbing robot on surface of iron based tank |
| CN102431635A (en) * | 2011-10-25 | 2012-05-02 | 清华大学 | Permanent magnetic adsorption-type crawler traveling mechanism used for underwater crawling machine |
| CN204659852U (en) * | 2015-05-08 | 2015-09-23 | 浙江海洋学院 | A kind of New Marine cleaning loading device |
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2018
- 2018-12-21 CN CN201811568826.2A patent/CN109677495B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10109862A (en) * | 1996-10-02 | 1998-04-28 | Sooken:Kk | Chair inclined type ascent and descent device |
| CN1375437A (en) * | 2002-04-29 | 2002-10-23 | 清华大学 | Crawler for magnetically adsorbed wall-climbing robot |
| CN101092151A (en) * | 2007-07-24 | 2007-12-26 | 于复生 | Wall-climbing robot on surface of iron based tank |
| CN102431635A (en) * | 2011-10-25 | 2012-05-02 | 清华大学 | Permanent magnetic adsorption-type crawler traveling mechanism used for underwater crawling machine |
| CN204659852U (en) * | 2015-05-08 | 2015-09-23 | 浙江海洋学院 | A kind of New Marine cleaning loading device |
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