CN109980861B - Generator maintenance robot - Google Patents
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- CN109980861B CN109980861B CN201910326547.3A CN201910326547A CN109980861B CN 109980861 B CN109980861 B CN 109980861B CN 201910326547 A CN201910326547 A CN 201910326547A CN 109980861 B CN109980861 B CN 109980861B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/0006—Disassembling, repairing or modifying dynamo-electric machines
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Abstract
The invention relates to a generator maintenance robot, comprising: the driving device is arranged at one axial end of the generator; the stretching device is arranged at the other end of the generator in the axial direction; one end of the flexible transmission mechanism is in transmission connection with the driving device, and the other end of the flexible transmission mechanism penetrates through an air gap between a rotor and a stator of the generator and is connected with the stretching device so as to be stretched by the stretching device; the bearing mechanism is assembled on the transmission mechanism and used for bearing an overhauling tool for overhauling the generator; the driving device can drive the transmission mechanism to move so as to drive the bearing mechanism to enter the air gap from the outside, and the bearing mechanism can move in the air gap along the axial direction and/or the circumferential direction of the generator. When the generator needs to be overhauled, the driving device drives the transmission mechanism to drive the bearing mechanism to enter an air gap between the rotor and the stator, and the overhauling tool assembled on the bearing mechanism can overhaul the generator, so that time and labor are saved.
Description
Technical Field
The invention relates to the technical field of electric overhaul, in particular to a generator overhaul robot.
Background
The generator includes stator and rotor, and in the stator was worn to locate by the rotor, after the generator put into use, need regularly to overhaul the work to the generator to ensure the normal use of generator.
The tradition overhauls the during operation to the generator, outside taking the stator out with the rotor usually, overhauls in getting into the stator thorax by the staff again, wears to locate the stator with the rotor after overhauing the completion in, so need drop into a large amount of manpower and materials, and it is longer to consume time, is simultaneously taking out the in-process that wears still can bump and damage the generator.
Disclosure of Invention
Based on this, it is necessary to provide a labour saving and time saving's generator maintenance robot to the problem that traditional maintenance generator was wasted time and energy.
A generator servicing robot comprising:
the driving device is arranged at one axial end of the generator;
the stretching device is arranged at the other end of the generator in the axial direction;
one end of the flexible transmission mechanism is connected with the driving device, and the other end of the flexible transmission mechanism penetrates through an air gap between a rotor and a stator of the generator and is connected with the stretching device to be stretched by the stretching device; and
the bearing mechanism is assembled on the transmission mechanism and used for bearing an overhauling tool for overhauling the generator;
the driving device can drive the transmission mechanism to move so as to drive the bearing mechanism to enter the air gap from the outside, and the bearing mechanism can move in the air gap along the axial direction and/or the circumferential direction of the generator.
According to the generator overhauling robot, when the generator needs to be overhauled, the driving device drives the transmission mechanism to drive the bearing mechanism to enter the air gap between the rotor and the stator, the stretching device stretches the transmission mechanism to enable the transmission mechanism to be always parallel to the axial direction of the generator, an overhauling tool assembled on the bearing mechanism can overhaul the stator slot wedge and the rotor slot wedge of the generator, the rotor does not need to be drawn out of the stator and then enters a stator chamber for overhauling by workers, and time and labor are saved; the collision can not occur in the maintenance process, and the generator can not be damaged; meanwhile, the transmission mechanism still can be parallel to the axial direction of the generator when the transmission mechanism stretches into the air gap between the rotor and the stator for a long length due to the stretching of the stretching device, so that the problem of sagging of the bearing mechanism is solved.
In one embodiment, one of the driving device and the stretching device is used for releasing the transmission mechanism, and the other is used for rolling the transmission mechanism.
In one embodiment, the driving device comprises a first circumferential driving mechanism and a first axial driving mechanism, the first axial driving mechanism is assembled on the first circumferential driving mechanism, the stretching device comprises a second circumferential driving mechanism and a second axial driving mechanism, the second axial driving mechanism is assembled on the second circumferential driving mechanism, and two ends of the transmission mechanism are respectively connected with the first axial driving mechanism and the second axial driving mechanism;
the first circumferential driving mechanism and the second circumferential driving mechanism synchronously act to drive the first axial driving mechanism and the second axial driving mechanism to drive the transmission mechanism and the bearing mechanism to rotate along the circumferential direction of the generator, one of the first axial driving mechanism and the second axial driving mechanism is used for releasing the transmission mechanism, and the other one of the first axial driving mechanism and the second axial driving mechanism is used for rolling the transmission mechanism.
In one embodiment, the first circumferential driving mechanism is sleeved on a portion of the rotor, where one end of the rotor extends out of the stator, the second circumferential driving mechanism is sleeved on a portion of the rotor, where the other end of the rotor extends out of the stator, and the first circumferential driving mechanism and the second circumferential driving mechanism can synchronously rotate relative to the rotor in the circumferential direction of the generator.
In one embodiment, each of the first and second circumferential driving mechanisms includes a circumferential rotating motor, a roller, a first half shell and a second half shell, the first half shell and the second half shell are sleeved outside the rotor to form a housing, the circumferential rotating motor and the roller are disposed between the housing and the rotor, and the circumferential rotating motor moves to drive the roller and the housing to rotate in the circumferential direction of the generator;
the first axial driving mechanism and the second axial driving mechanism are fixedly connected with the corresponding shell.
In one embodiment, the device further comprises a first half middle piece and a second half middle piece, the first half middle piece and the second half middle piece are sleeved outside the rotor in an abutting mode to form a middle piece, and the middle piece is located between the first circumferential driving mechanism and the rotor and between the second circumferential driving mechanism and the rotor.
In one embodiment, the rotor further comprises a protective layer disposed between the intermediate member and the rotor.
In one embodiment, the first axial driving mechanism and the second axial driving mechanism are arranged in a mirror direction; the first axial driving mechanism and the second axial driving mechanism respectively comprise a first supporting piece, a fixed pulley and a winch, one end of the first supporting piece and one end of the winch which correspond to the first axial driving mechanism are connected with the first circumferential driving mechanism and the second circumferential driving mechanism, the fixed pulley is connected with the other end of the first supporting piece, and the transmission mechanism is wound on the winch and bypasses the fixed pulley.
In one embodiment, the number of the bearing mechanisms is at least two, and the at least two bearing mechanisms are assembled on the transmission mechanism in series.
In one embodiment, the carrying mechanism includes a first half-carrier and a second half-carrier, and the first half-carrier are butt-clamped on the transport mechanism to form the carrying mechanism.
In one embodiment, the stator further comprises a controllable telescopic second supporting piece and a rolling piece, one end of the second supporting piece is fixedly connected with the bearing mechanism, the rolling piece is installed at the suspended end of the second supporting piece, and the second supporting piece is abutted to the inner wall of the stator and/or the outer wall of the rotor through the rolling piece.
Drawings
Fig. 1 is a structural diagram of a generator maintenance robot according to an embodiment of the present invention when a generator is maintained;
FIG. 2 is a schematic view of a portion of the generator shown in FIG. 1;
fig. 3 is a top view of the generator servicing robot shown in fig. 1.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, before describing the generator maintenance robot 100 in detail, first, a simple description is made on a part of the structure of the generator to help understanding the technical solution of the present invention.
Referring to fig. 2, the generator includes a stator 200 and a rotor 300 disposed in the stator 200, an air gap 400 is formed between the stator 200 and the rotor 300, and the rotor 300 can rotate around a central axis in the stator 200. The stator 200 includes a stator core 201, a stator coil 202, and a stator slot wedge 203, the stator core 201 is provided with a first coil slot 204, the stator coil 202 is provided in the first coil slot 204, the stator slot wedge 203 presses the stator coil 202 in the first coil slot 204, and a stator bar 205 is formed at a position where the first coil slot 204 is not provided in the stator core 201. Specifically, the first coil slot 204 extends in the axial direction of the generator, that is, the first coil slot 204 extends from one end to the other end in the axial direction of the stator core 201.
More specifically, the number of the first coil slots 204 is at least two, at least two first coil slots 204 are arranged at intervals in the circumferential direction of the generator, the number of the stator coils 202 and the stator slot wedges 203 corresponds to the number of the first coil slots 204, each stator coil 202 is arranged in the corresponding first coil slot 204, each stator slot wedge 203 compresses the corresponding stator coil 202 in the corresponding first coil slot 204, and thus the stator core 201 includes at least two stator bars 205 arranged at intervals in the circumferential direction of the generator.
The rotor 300 comprises a rotor core 301, a rotor coil 302 and a rotor slot wedge 303, wherein a second coil slot 304 is formed in the rotor core 301, the rotor core 301 is arranged in the second coil slot 304, the rotor slot wedge 303 compresses the rotor coil 302 in the second coil slot 304, and a rotor iron bar 305 is formed at a position where the second coil slot 304 is not formed in the rotor core 301. Specifically, the second coil slots 304 extend in the axial direction of the generator, that is, the second coil slots 304 extend from one end to the other end in the axial direction of the rotor core 301.
More specifically, the number of the second coil slots 304 is at least two, the at least two second coil slots 304 are arranged at intervals along the circumferential direction of the generator, the number of the rotor coils 302 and the rotor slot wedges 303 corresponds to the number of the second coil slots 304, each rotor coil 302 is arranged in the corresponding second coil slot 304, each rotor slot wedge 303 compresses the corresponding rotor coil 302 in the corresponding second coil slot 304, and thus the rotor core 301 includes at least two rotor bars 305 arranged at intervals along the circumferential direction of the generator.
The generator maintenance robot 100 according to the embodiment of the present invention can perform maintenance on the stator slot wedges 203 and the rotor slot wedges 303, which will be described in detail below.
Referring to fig. 1, the generator maintenance robot 100 includes a driving device 10, a stretching device 20, a flexible transmission mechanism 30 and a carrying mechanism 40, the driving device 10 and the stretching device 20 are respectively disposed at two ends of the generator in the axial direction, one end of the transmission mechanism 30 is connected to the driving device 10, the other end of the transmission mechanism 30 passes through an air gap 400 between a rotor 300 and a stator 200 of the generator and is connected to the stretching device 20, and the carrying mechanism 40 is assembled on the transmission mechanism 30.
The driving device 10 is used for driving the transmission mechanism 30 to drive the bearing mechanism 40 to enter the air gap 400 between the stator 200 and the rotor 300 from the outside, and make the bearing mechanism 40 move in the air gap 400 along the axial direction and/or the circumferential direction of the generator; the stretching device 20 is used for stretching the transmission mechanism 30 when the driving device 10 drives the transmission mechanism 30 to drive the bearing mechanism 40 to move, so as to prevent the transmission mechanism 30 from sagging under the action of self weight and the gravity of the bearing mechanism 40; the bearing mechanism 40 is used for bearing an overhaul tool for overhauling the generator, and when the bearing mechanism 40 bears the overhaul tool and enters the air gap 400, the stator slot wedges 203 and the rotor slot wedges 303 can be overhauled.
According to the generator overhauling robot 100 provided by the embodiment of the invention, when the generator needs to be overhauled, the driving device 10 drives the transmission mechanism 30 to drive the bearing mechanism 40 to enter the air gap 400 between the rotor 300 and the stator 200, the stretching device 20 stretches the transmission mechanism 30 to enable the transmission mechanism to be always parallel to the axial direction of the generator, an overhauling tool assembled on the bearing mechanism 40 carries out overhauling work on the stator slot wedge 203 and the rotor slot wedge 303 of the generator, the rotor 300 does not need to be drawn out of the stator 200 and then enters a stator bore for overhauling by a worker, and time and labor are saved; the collision can not occur in the maintenance process, and the generator can not be damaged; meanwhile, the transmission mechanism 30 is stretched by the stretching device 20, so that the problem of preventing the bearing mechanism 40 from sagging is achieved.
It should be noted that the maintenance tool may be a slot wedge loosening maintenance tool, a slot wedge fault processing tool, a slot wedge cleaning tool, or another maintenance tool that needs to be used in the maintenance operation, and is not limited herein.
In one embodiment, the generator maintenance robot 100 further includes a control mechanism, and the driving device 10, the stretching device 20 and the maintenance tool are electrically connected to the control mechanism, and the control mechanism controls the driving device 10, the stretching device 20 and the maintenance tool to work.
In one embodiment, one of the driving device 10 and the stretching device 20 is used for releasing the transmission mechanism 30, and the other is used for winding the transmission mechanism 30. Specifically, the driving device 10 is used to release the transfer mechanism 30, the stretching device 20 is used to wind the transfer mechanism 30, and when the driving device 10 releases the transfer mechanism 30, the stretching device 20 winds and stretches the transfer mechanism 30. In other embodiments, the stretching device 20 is used to release the transfer mechanism 30, the driving device 10 is used to roll up the transfer mechanism 30, and the stretching device 20 simultaneously releases and stretches the transfer mechanism 30 when the driving device 10 rolls up the transfer mechanism 30.
The driving device 10 includes a first circumferential driving mechanism 11 and a first axial driving mechanism 12, the first axial driving mechanism 12 is assembled on the first circumferential driving mechanism 11, the stretching device 20 includes a second circumferential driving mechanism 21 and a second axial driving mechanism 22, the second axial driving mechanism 22 is assembled on the second circumferential driving mechanism 21, and two ends of the transmission mechanism 30 are respectively connected with the first axial driving mechanism 12 and the second axial driving mechanism 22.
The first circumferential driving mechanism 11 and the second circumferential driving mechanism 21 synchronously operate to drive the first axial driving mechanism 12, the second axial driving mechanism 22 to drive the transmission mechanism 30 and the carrying mechanism 40 to rotate along the circumferential direction of the generator, one of the first axial driving mechanism 12 and the second axial driving mechanism 22 is used for releasing the transmission mechanism 30, and the other one is used for winding the transmission mechanism 30, so that the transmission mechanism 30 drives the carrying mechanism 40 to move along the axial direction of the generator.
When the carrying mechanism 40 needs to move along the circumferential direction of the generator, the first circumferential driving mechanism 11 and the second circumferential driving mechanism 21 synchronously move to drive the first axial driving mechanism 12, the second axial driving mechanism 22, the transmission mechanism 30 and the carrying mechanism 40 to move along the circumferential direction of the generator, and when the carrying mechanism 40 needs to move along the axial direction of the generator, the first axial driving mechanism 12 and the second axial driving mechanism 22 synchronously move to enable the transmission mechanism 30 to drive the carrying mechanism 40 to move along the axial direction of the generator. The first circumferential driving mechanism 11 and the second circumferential driving mechanism 21 can operate simultaneously with the first axial driving mechanism 12 and the second axial driving mechanism 22, and at this time, the carrying mechanism 40 can move along the axial direction of the generator or rotate along the circumferential direction of the generator; when the first circumferential driving mechanism 11 and the second circumferential driving mechanism 21 operate, the first axial driving mechanism 12 and the second axial driving mechanism 22 do not operate, and at this time, the carrying mechanism 40 can only rotate along the circumferential direction of the generator; when the first axial drive mechanism 12 and the second axial drive mechanism 22 are operated, the first circumferential drive mechanism 11 and the second circumferential drive mechanism 21 are not operated, and the carrier mechanism 40 can only move in the axial direction of the generator. In general, it is sufficient to only move the support means 40 in the axial direction or in the circumferential direction of the generator.
In one embodiment, the first circumferential driving mechanism 11 is sleeved on a portion of one end of the rotor 300 extending out of the stator 200, and the second circumferential driving mechanism 21 is sleeved on a portion of the other end of the rotor 300 extending out of the stator 200. That is, in the present embodiment, the first circumferential driving mechanism 11 and the second circumferential driving mechanism 21 rotate in the circumferential direction of the rotor 300 by themselves to drive the first axial driving mechanism 12, the second axial driving mechanism 22, the transmission mechanism 30, and the carrier mechanism 40 to rotate together in the circumferential direction of the generator. It is understood that in other embodiments, the first circumferential driving mechanism 11 and the second circumferential driving mechanism 21 may drive the first axial driving mechanism 12, the second axial driving mechanism 22, the transmission mechanism 30 and the carrying mechanism 40 to rotate together along the circumferential direction of the generator instead of rotating with respect to the circumferential direction of the rotor 300, for example, the main body of the first circumferential driving mechanism 11 and the main body of the second circumferential driving mechanism 21 may be stationary with respect to the circumferential direction of the rotor 300, and the first axial driving mechanism 12, the second axial driving mechanism 22, the transmission mechanism 30 and the carrying mechanism 40 are driven to rotate together along the circumferential direction of the generator by two rotating shafts rotating concentrically with the rotor 300.
Further, the first circumferential driving mechanism 11 and the second circumferential driving mechanism 21 have the same structure, the first circumferential driving mechanism 11 and the second circumferential driving mechanism 21 both include a circumferential rotating motor 111, a roller 112, a first half shell 113 and a second half shell 114, the first half shell 113 and the second half shell 114 are sleeved outside the rotor 300 to form a housing, the circumferential rotating motor 111 and the roller 112 are disposed between the housing and the rotor 300, the first axial driving mechanism 12 and the second axial driving mechanism 22 are assembled on the corresponding housing, and the circumferential rotating motor 111 moves to drive the roller 112 and the housing to move along the circumferential direction of the generator. Thus, when the circular rotating electrical machine 111 moves to drive the housing to move, the housing drives the first axial driving mechanism 12, the second axial driving mechanism 22, the transmission mechanism 30 and the carrying mechanism 40 to rotate together along the circumferential direction of the generator.
It is understood that, in other embodiments, the first circumferential driving mechanism 11 and the second circumferential driving mechanism 21 are not limited to the above-mentioned arrangement, for example, the housing may be disposed outside the rotor 300, and the housing may be driven by other components to rotate along the circumferential direction of the generator. The first circumferential driving mechanism 11 and the second circumferential driving mechanism 21 may have different structures, and are not limited herein.
Specifically, the first half shell 113 and the second half shell 114 are fixed by fastening bolts to prevent the shells from being split when they are rotated. More specifically, the housing is made of a steel material.
It should be noted that, when the carrier mechanism 40 is not required to rotate in the circumferential direction of the generator, both the first circumferential driving mechanism 11 and the second circumferential driving mechanism 21 are kept stationary relative to the rotor 300, that is, the first circumferential driving mechanism 11 and the second circumferential driving mechanism 21 are limited outside the rotor 300 in the circumferential direction of the generator by the friction force.
In one embodiment, in order to increase the friction between the rotor 300 and the first and second circumferential driving mechanisms 11 and 21, so that the first and second circumferential driving mechanisms 11 and 21 are kept stationary relative to the rotor 300 when the carrying mechanism 40 is not required to rotate in the circumferential direction of the generator, the generator maintenance robot 100 further includes a first half-middle piece 51 and a second half-middle piece 52, the first half-middle piece 51 and the second half-middle piece 52 are sleeved outside the rotor 300 in a butt joint manner to form a middle piece, and the circumferential rotation motor 111 and the rollers 112 are disposed between the housing and the middle piece. The friction between the intermediate member and the first circumferential driving mechanism 11 and the second circumferential driving mechanism 21 is large so as to prevent the first circumferential driving mechanism 11 and the second circumferential driving mechanism 21 from rotating in the circumferential direction with respect to the rotor 300 when the circumferential rotation motor 111 is not operated.
Specifically, in order to prevent the middleware from damaging the rotor 300, the generator overhaul robot 100 further includes a protective layer disposed between the rotor 300 and the middleware. The protective layer is made of hard plastic or copper sheet.
In one embodiment, the first axial driving mechanism 12 and the second axial driving mechanism 22 are disposed in a mirror-image manner, each of the first axial driving mechanism 12 and the second axial driving mechanism 22 includes a first supporting member 121, a fixed pulley 122 and a winding machine 123, one end of the first supporting member 121 and the winding machine 123 of the first axial driving mechanism 12 are connected to the first circumferential driving mechanism 11, one end of the first supporting member 121 and the winding machine 123 of the second axial driving mechanism 22 are connected to the second circumferential driving mechanism 21, the fixed pulley 122 is connected to the other end of the first supporting member 121, and two ends of the transmission mechanism 30 are respectively wound on the corresponding winding machines 123 and pass through the corresponding fixed pulleys 122. When one of the windlasses 123 releases the transmission mechanism 30, the other windlass 123 winds up the transmission mechanism 30, so that the transmission mechanism 30 drives the bearing mechanism 40 to move along the axial direction of the generator.
In one embodiment, the transmission mechanism 30 is a steel wire rope, and the transmission mechanism 30 is always parallel to the axial direction of the generator, so as to ensure that the transmission mechanism 30 drives the carrying mechanism 40 to move along the axial direction of the generator when the driving device 10 drives the transmission mechanism 30 to act. It is to be understood that in other embodiments, the material of the transfer mechanism 30 is not limited as long as it is a flexible material.
In one embodiment, the carrier mechanism 40 includes a first carrier half 41 and a second carrier half 42, and the first carrier half 41 and the second carrier half 42 are butt-clamped on the transport mechanism 30 to form the carrier mechanism 40. In this manner, mounting on the transport mechanism 30 is facilitated.
Specifically, the first carrier half 41 and the second carrier half 42 are fixed by fastening bolts.
In one embodiment, at least two carrying mechanisms 40 can be mounted in series on each transport mechanism 30 to improve service efficiency. If the bearing mechanism 40 at the front can bear a slot wedge loosening maintenance tool to detect whether the stator slot wedge 203 or the rotor slot wedge 303 is loosened, and the bearing mechanism 40 at the rear can bear a slot wedge fault processing tool to knock the loosened stator slot wedge 203 or the rotor slot wedge 303.
In one embodiment, the generator service robot 100 further includes a second controllable telescopic support 60, one end of the second support 60 is fixedly connected to the bearing mechanism 40, and the other end of the second support 60 abuts against the inner wall of the stator 200 and/or the outer wall of the rotor 300. Specifically, the other end of the second support 60 abuts on the stator iron bar 205 of the stator 200 and/or the rotor iron bar 305 of the rotor 300.
When the stator slot wedges 203 or the rotor slot wedges 303 are overhauled, the second supporting piece 60 abuts against the stator iron bar 205 and/or the rotor iron bar 305 to ensure the stability of the bearing mechanism 40, and the deviation cannot be caused by the gravity of the transmission mechanism 30 and the bearing mechanism 40 in the process of moving along the axial direction of the generator; the second supporting member 60 is retractable, so that the bearing mechanism 40 can enter the air gap 400 between the rotor 300 and the stator 200 (for example, when entering the air gap 400 between the rotor 300 and the stator 200, it needs to first pass through a small air gap between the guard ring 500 and the stator 200, at this time, the second supporting member 60 can be controlled to retract, and when passing through the small air gap, the second supporting member 60 is controlled to extend to be supported on the inner wall of the stator 200 or the outer wall of the rotor 300).
Specifically, the number of the second supporting members 60 is three, two of the second supporting members 60 abut against the stator iron bar 205, and one of the second supporting members 60 abuts against the rotor iron bar 305. More specifically, the second support member 60 may be a telescopic member such as a telescopic cylinder or a hydraulic cylinder.
Referring to fig. 1 and 3, further, the generator servicing robot 100 further includes a rolling member 70, the rolling member 70 is connected to an end of the second support 60 not connected to the bearing mechanism 40, and when the bearing mechanism 40 moves in an axial direction or a circumferential direction of the generator, the rolling member 70 rolls on the stator iron bar 205 of the stator 200 and/or the rotor iron bar 305 of the rotor 300. The rolling members 70 are disposed to prevent the inner wall of the stator 200 or the outer wall of the rotor 300 from being scratched when the bearing mechanism 40 moves the second supporting member 60. Specifically, the rolling member 70 is made of rubber.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A generator service robot, comprising:
the driving device is arranged at one axial end of the generator;
the stretching device is arranged at the other end of the generator in the axial direction;
one end of the flexible transmission mechanism is in transmission connection with the driving device, and the other end of the flexible transmission mechanism penetrates through an air gap between a rotor and a stator of the generator and is connected with the stretching device so as to be stretched by the stretching device; and
the bearing mechanism is assembled on the transmission mechanism and used for bearing an overhauling tool for overhauling the generator;
the driving device can drive the transmission mechanism to move so as to drive the bearing mechanism to enter the air gap from the outside and can drive the bearing mechanism to move along the axial direction and/or the circumferential direction of the generator in the air gap;
the generator overhauling robot further comprises a rolling piece, the rolling piece is connected with the bearing mechanism, and the bearing mechanism is abutted against the inner wall of the stator and/or the outer wall of the rotor through the rolling piece;
the driving device comprises a first circumferential driving mechanism, the first circumferential driving mechanism is sleeved on a part of one end of the rotor, which extends out of the stator, the stretching device comprises a second circumferential driving mechanism, the second circumferential driving mechanism is sleeved on a part of the other end of the rotor, which extends out of the stator, and the first circumferential driving mechanism and the second circumferential driving mechanism can synchronously rotate relative to the rotor along the circumferential direction of the generator; the first circumferential driving mechanism and the second circumferential driving mechanism both comprise a circumferential rotating motor, a roller, a first half shell and a second half shell, the first half shell and the second half shell are sleeved outside the rotor in a butt joint mode to form a shell, the circumferential rotating motor and the roller are arranged between the shell and the rotor, and the circumferential rotating motor moves to drive the roller and the shell to rotate in the circumferential direction of the generator.
2. The generator service robot of claim 1, wherein one of the drive device and the tensioning device is configured to release the transport mechanism and the other is configured to wind the transport mechanism.
3. The generator service robot of claim 2, wherein the driving device further comprises a first axial driving mechanism assembled on the first circumferential driving mechanism, the stretching device further comprises a second axial driving mechanism assembled on the second circumferential driving mechanism, and two ends of the transmission mechanism are respectively connected with the first axial driving mechanism and the second axial driving mechanism;
the first circumferential driving mechanism and the second circumferential driving mechanism synchronously act to drive the first axial driving mechanism and the second axial driving mechanism to drive the transmission mechanism and the bearing mechanism to rotate along the circumferential direction of the generator, one of the first axial driving mechanism and the second axial driving mechanism is used for releasing the transmission mechanism, and the other one of the first axial driving mechanism and the second axial driving mechanism is used for rolling the transmission mechanism.
4. The generator servicing robot of claim 3, wherein the first and second axial drive mechanisms are fixedly connected to the corresponding housing.
5. The generator servicing robot of claim 3, wherein the first axial drive mechanism is mirror-axially disposed from the second axial drive mechanism; the first axial driving mechanism and the second axial driving mechanism respectively comprise a first supporting piece, a fixed pulley and a winch, one end of the first supporting piece and one end of the winch which correspond to the first axial driving mechanism are connected with the first circumferential driving mechanism and the second circumferential driving mechanism, the fixed pulley is connected with the other end of the first supporting piece, and the transmission mechanism is wound on the winch and bypasses the fixed pulley.
6. The generator servicing robot of claim 1, further comprising a first half-intermediate and a second half-intermediate, the first half-intermediate and the second half-intermediate being butt-sleeved outside the rotor to form an intermediate, the intermediate being located between the first circumferential drive mechanism and the rotor and between the second circumferential drive mechanism and the rotor.
7. The generator servicing robot of claim 6, further comprising a protective layer disposed between the intermediate piece and the rotor.
8. The generator servicing robot of claim 1, wherein the number of load bearing mechanisms is at least two, the at least two load bearing mechanisms being assembled in series on the transport mechanism.
9. The generator service robot of claim 1, wherein the carrier mechanism comprises a first half carrier and a second half carrier, the first half carrier and the first half carrier are butt-clamped to the transport mechanism to form the carrier mechanism.
10. The generator overhauling robot as recited in claim 1, further comprising a second controllable telescopic support member, wherein one end of the second support member is fixedly connected with the carrying mechanism, the rolling member is mounted at the suspended end of the second support member, and the second support member abuts against the inner wall of the stator and/or the outer wall of the rotor through the rolling member.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910326547.3A CN109980861B (en) | 2019-04-23 | 2019-04-23 | Generator maintenance robot |
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| CN201910326547.3A CN109980861B (en) | 2019-04-23 | 2019-04-23 | Generator maintenance robot |
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| CN109980861A CN109980861A (en) | 2019-07-05 |
| CN109980861B true CN109980861B (en) | 2021-01-26 |
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| CN110514969B (en) * | 2019-07-29 | 2022-01-25 | 国网河北省电力有限公司电力科学研究院 | Generator stator core insulation detection device and detection method |
| US20240044748A1 (en) * | 2021-01-26 | 2024-02-08 | Mitsubishi Electric Corporation | Dynamoelectric machine examination device, dynamoelectric machine examination system, and dynamoelectric machine |
| CN113315318A (en) * | 2021-05-11 | 2021-08-27 | 中国长江电力股份有限公司 | Inspection device and inspection method suitable for large-scale hydraulic generator stator and rotor |
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| US7520189B2 (en) * | 2006-10-27 | 2009-04-21 | Siemens Energy, Inc. | Generator inspection assembly |
| CN101567609A (en) * | 2008-04-14 | 2009-10-28 | 阿尔斯通技术有限公司 | Device for the inspection of a gap |
| CN107394971A (en) * | 2017-08-30 | 2017-11-24 | 中广核核电运营有限公司 | Climbing robot |
| CN107482863A (en) * | 2017-08-30 | 2017-12-15 | 中广核核电运营有限公司 | Generator stator-rotator auxiliary changes slot device and method |
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2019
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| US7520189B2 (en) * | 2006-10-27 | 2009-04-21 | Siemens Energy, Inc. | Generator inspection assembly |
| CN101567609A (en) * | 2008-04-14 | 2009-10-28 | 阿尔斯通技术有限公司 | Device for the inspection of a gap |
| CN107394971A (en) * | 2017-08-30 | 2017-11-24 | 中广核核电运营有限公司 | Climbing robot |
| CN107482863A (en) * | 2017-08-30 | 2017-12-15 | 中广核核电运营有限公司 | Generator stator-rotator auxiliary changes slot device and method |
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| CN109980861A (en) | 2019-07-05 |
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