Generator set stator and rotor narrow gap inspection operation robot and use method thereof

Abstract

The invention discloses a generator set stator and rotor narrow gap inspection operation robot and a use method thereof. The generator set stator and rotor narrow gap inspection operation robot comprises a rack, a power transmission device, a walking device, a knocking operation device and a sound collection device, wherein the power transmission device provides power support for the robot, the walking device is used for driving the robot to perform inchworm-type motion in a narrow gap between a stator and a rotor of a generator set, the knocking operation device is used for knocking a stator slot wedge, and the sound collection device is used for collecting sound information generated by knocking vibration of the knocking operation device. Therefore, tightness detection of the stator slot wedge is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of generator set maintenance equipment, and in particular to a generator set stator and rotor narrow gap inspection operation robot and a use method thereof. Background Art

[0002] Large hydroelectric generators are key operating mechanisms in the process of hydropower generation. The stator is the main component of the generator. The iron core and winding are key components for the generator to generate a magnetic field and operate normally. The iron core includes slot wedges, corrugated plates, gaskets, and wire rods. The looseness detection of stator slot wedges is the core to ensure the long-term and stable operation of the generator. For large hydroelectric generators, generator factories often use slot wedges and gaskets or slot wedges, gaskets and corrugated plates combined structures to reinforce the stator wire rods. However, with the long-term operation of the generator, the electromagnetic force of the wire rod continues to act, causing the deformation of the gasket or corrugated plate to gradually decrease, and then the slot wedge becomes loose or falls off, causing major safety hazards. Therefore, it is necessary to detect and maintain the looseness of the slot wedges of the generator during the maintenance plan to ensure the normal and safe operation of the generator. Traditional detection technology is carried out when the generator rotor is hoisted out, which has problems such as long detection time cycle, high labor costs, and easy damage to equipment. However, for large hydro-turbine generators, the stator slot wedge tightness detection project cannot be carried out at present due to factors such as the narrow gap between the stator and rotor without lifting out the rotor. Therefore, there is an urgent need for an internal inspection and processing device for the stator and rotor of a generator set, which can realize non-destructive detection of the tightness of the generator stator slot wedge based on the sound information generated by knocking vibration.

[0003] Chinese patent document CN118641625A, published (announced) date: 2024.09.13, discloses a generator set stator and rotor internal inspection and processing operation device, including a circumferential guide mechanism, a mobile vehicle, a radial telescopic mechanism, a vertical lifting mechanism and a replaceable working tool, wherein the circumferential guide mechanism is arranged on the generator set rotor, the mobile vehicle is arranged on the circumferential guide mechanism and can walk on the circumferential guide mechanism, the vertical lifting mechanism is connected to the mobile vehicle through the radial telescopic mechanism, the replaceable working tool is arranged on the vertical lifting mechanism, the vertical lifting mechanism carries the replaceable working tool and can enter the stator-rotor gap, the vertical lifting mechanism drives the replaceable working tool to be lifted, and the replaceable working tool detects the tightness of the generator stator slot wedge based on the knocking operation sound of the generator stator slot wedge. Its feature is that the inspection and processing operation is performed by entering the narrow gap through the vertical lifting mechanism; its disadvantage is that before the inspection, a circumferential guide mechanism needs to be installed on the generator set, and when in use, the radial telescopic mechanism and the vertical lifting mechanism need to be controlled at the same time, and the installation and control are relatively complicated. Summary of the invention

[0004] In order to solve the current technical problems, the main purpose of the present invention is to provide a generator set stator and rotor narrow gap inspection robot and its use method, so as to solve the problem that during the stator slot wedge tightness detection process of large hydro-turbine generators, the gap is too narrow and the installation and control of the existing mechanism are relatively complicated.

[0005] The technical solution adopted by the present invention is: a generator set stator and rotor narrow gap inspection operation robot, including a frame and a power transmission device, a walking device, a knocking operation device and a sound collection device arranged on the frame; wherein the power transmission device provides power support for the robot, the walking device is used to drive the robot to perform inchworm-like movement in the narrow gap between the stator and rotor of the generator set, the knocking operation device is used to knock on the stator slot wedge, and the sound collection device is used to collect sound information generated by the knocking vibration of the knocking operation device to realize the tightness detection of the stator slot wedge.

[0006] The frame includes an upper frame, a lower frame and a traveling mounting frame. A power transmission device is installed in the internal space of the upper frame and the lower frame. Travel mounting frames are respectively provided on the left and right sides of the lower frame. The traveling devices on both sides are respectively swingably mounted on the traveling mounting frames on both sides, and the traveling devices are connected to the power transmission device for transmission through the traveling mounting frames; the knocking operation device and the sound collection device are installed at the front end or the rear end of the lower frame.

[0007] The power transmission device includes a front-and-rear swing driving mechanism and an up-and-down swing driving mechanism, the front-and-back swing driving mechanism includes a motor, a motor output shaft, a driving gear, a driven gear and a driven shaft, the motor output shaft of the motor is equipped with a driving gear, the driven shaft is parallel to the motor output shaft, the driven shaft is equipped with a driven gear, the driving gear and the driven gear are meshed and transmitted, the motor output shaft and the driven shaft are respectively connected to the walking devices on both sides for transmission to drive the walking devices to swing back and forth, and the up-and-down swing driving mechanism is synchronized with the front-and-back swing driving mechanism to drive the walking devices to swing up and down.

[0008] The walking device includes a turbine, a worm, an electromagnet I, an electromagnet II, a central electromagnet, a swing connecting rod and an electromagnet mounting frame. Two swing connecting rods are rotatably installed on the walking mounting frame, a worm is installed inside the walking mounting frame, and both ends of the worm are rotatably connected with the lower frame respectively. A turbine is fixedly installed on one of the swing connecting rods on each side of the walking mounting frame and at one end located inside the walking mounting frame. The turbine is meshed with the worm on the corresponding side for transmission. The other ends of the two swing connecting rods on each side are hingedly installed with an electromagnet mounting frame, and electromagnet I and electromagnet II are respectively installed at the lower ends of the electromagnet mounting frame; at least one central electromagnet is installed at the bottom of the lower frame; the up and down swing driving mechanism is connected and driven with the walking mounting frame; the motor output shaft and the driven shaft are respectively connected to the worms on both sides for transmission to drive the worms to rotate.

[0009] The up and down swing driving mechanism includes a driving bevel gear, a driven bevel gear, a spiral inner shaft, a spiral positioning pin and a connecting rod. The driving bevel gear is installed on the driven shaft, and the driven bevel gear is installed below the spiral inner shaft. The driven bevel gear is meshed with the driving bevel gear for transmission. The two spiral positioning pins are respectively installed on the left and right sides of the spiral inner shaft for upward and downward guiding sliding. A slide groove is provided on the spiral inner shaft. One end of the spiral positioning pin extends into the slide groove, and the other end is hinged to one end of the connecting rod. The other end of the connecting rod is hinged to the walking mounting frame.

[0010] The motor output shaft and driven shaft are respectively equipped with synchronous pulleys I and II, and the worms on both sides are also equipped with corresponding synchronous pulleys. The synchronous pulleys on the worms on both sides are respectively connected to the synchronous pulleys I and II through synchronous belts I and II.

[0011] The slide groove is a symmetrical ring structure with one end being high and the other end being low.

[0012] The knocking operation device includes a steering gear, a knocking hammer mounting frame, a return spring, a knocking hammer handle, a knocking hammer head, and a knocking hammer output shaft. One end of the knocking hammer handle is movably mounted on the knocking hammer mounting frame through a pivot, and a return spring is also mounted on the pivot. One end of the return spring acts on the knocking hammer mounting frame, and the other end acts on the knocking hammer handle. A cam is also mounted on the knocking hammer mounting frame through the knocking hammer output shaft, and the protruding end of the cam can abut against the knocking hammer handle. The steering gear is mounted on one side of the knocking hammer mounting frame, and the output shaft of the steering gear is connected to the knocking hammer output shaft for transmission; the knocking hammer head is mounted on the other end of the knocking hammer handle.

[0013] The number of the knocking operation devices is two, and the sound collection device is arranged between the two knocking operation devices.

[0014] The method for using the generator set stator and rotor narrow gap inspection robot is used to walk in the narrow gap between the stator and rotor of the generator set and detect the tightness of the stator slot wedge. The method for using the robot comprises the following steps: In the crawling stage, the motor rotates back and forth at a fixed point, and the motor output shaft and the driven shaft rotate synchronously, thereby driving the worms of the walking devices on both sides to rotate, thereby driving the swing connecting rod to swing forward or backward, thereby synchronously driving the electromagnet mounting frames on both sides to swing forward or backward; When the electromagnet mounting frame swings forward or backward, the driven shaft synchronously drives the spiral inner shaft to rotate, thereby driving the spiral positioning pin to reciprocate up and down. When the spiral positioning pin reciprocates up and down, the traveling mounting frame is driven to swing up and down through the connecting rod; When the electromagnet mounting frame swings forward or backward, electromagnets I and II are powered off, the central electromagnet is powered on, and the central electromagnet is adsorbed to the working surface to prevent the robot from falling. When the electromagnet mounting frame falls to the lowest point, electromagnets I and II are powered on, and electromagnets I and II are adsorbed to the working surface, and the electromagnets are powered off at the same time; During the detection phase, the knocking device performs a knocking operation on the stator slot wedge, and the sound collection device collects sound information generated by the knocking vibration of the knocking device.

[0015] The present invention has the following beneficial effects: 1. The invention provides a generator set stator rotor narrow gap inspection robot, which is used for the internal inspection and processing of the generator set stator rotor. It does not need to install a circumferential guide mechanism when in use, and the control is relatively simple. It can also realize non-destructive detection of the tightness of the generator stator slot wedge based on the sound information generated by the knocking vibration. The robot can be used for the knocking inspection of narrow gaps, and can enter the working space through a narrow gap. The operating mechanism has the advantages of small size and simple structure, and has a wide range of applications.

[0016] 2. The walking device of the present invention is used to drive the robot to perform inchworm-like movement in the narrow gap between the stator and rotor of the generator set. The motor serves as the power output of the whole machine, and the movement of the robot is achieved through the attraction and cooperation of the electromagnet, which can well adapt to the movement in the narrow gap working space between the stator and rotor.

[0017] 3. The present invention uses a steering gear as the driving force output of the striking hammer, which can well adapt to the working space of the narrow gap between the stator and the rotor, and is simple to control and easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0020] Figure 2 It is a schematic diagram of the three-dimensional structure from another viewing angle of the present invention.

[0021] Figure 3 It is a schematic diagram of the structure of the power transmission device inside the frame and the traveling device of the present invention.

[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of the power transmission device of the present invention.

[0023] Figure 5 It is a schematic structural diagram of the bottom of the present invention.

[0024] Figure 6 It is a schematic structural diagram of the knocking operation device of the present invention.

[0025] Figure 7 It is a schematic structural diagram of the spiral inner circular shaft of the present invention.

[0026] Figure 8 This is a top view of the first state of the robot walking device of the present invention when it is moving.

[0027] Fig. 9 This is a front view of the first state of the robot walking device of the present invention when it is moving.

[0028] Fig.10 This is a top view of the second state of the robot walking device of the present invention when it is moving.

[0029] Fig.11 This is a front view of the second state of the robot walking device of the present invention when it is moving.

[0030] Fig.12 This is a top view of the third state of the robot walking device of the present invention when it is moving.

[0031] Fig.13 This is a front view of the third state of the robot walking device of the present invention when it is in motion.

[0032] Fig.14 This is a diagram of the robot of the present invention operating in the narrow gap between the stator and the rotor.

[0033] Reference numerals: Frame 1, upper frame 101, lower frame 102, travel mounting frame 103; Power transmission device 2, motor 201, motor output shaft 202, driving gear 203, driven gear 204, synchronous pulley I 205, synchronous pulley II 206, synchronous belt I 207, synchronous belt II 208, driving bevel gear 209, driven bevel gear 210, spiral inner shaft 211, slide groove 212, driven shaft 213; Walking device 3, turbine 301, worm 302, electromagnet I 303, electromagnet II 304, central electromagnet 305, swing link 306, spiral positioning pin 307, link 308, electromagnet mounting bracket 309; The striking operation device 4, the steering gear 401, the striking hammer mounting frame 402, the return spring 403, the striking hammer handle 404, the striking hammer head 405, the striking hammer output shaft 406, and the cam 407; Sound collection device 5; Narrow gap 6. DETAILED DESCRIPTION

[0034] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Embodiment 1: See also Figure 1-14 The present invention provides a generator set stator and rotor narrow gap inspection robot, comprising a frame 1 and a power transmission device 2, a walking device 3, a knocking device 4 and a sound collection device 5 arranged on the frame 1; wherein the power transmission device 2 provides power support for the robot, the walking device 3 is used to drive the robot to perform inchworm-like movement in the narrow gap 6 of the generator set stator and rotor, the knocking device 4 is used to knock on the stator slot wedge, and the sound collection device 5 is used to collect the sound information generated by the knocking vibration of the knocking device 4 to detect the tightness of the stator slot wedge. The generator set stator and rotor narrow gap inspection robot provided by the present invention is used for internal inspection and processing of the generator set stator and rotor, and can realize non-destructive detection of the tightness of the generator stator slot wedge based on the sound information generated by the knocking vibration. The robot can be used for knocking detection operations in narrow gaps, and can enter the space to be operated through a narrow gap. The operating mechanism has the advantages of small size and simple structure.

[0036] See also Figure 2 In the embodiment of the present invention, the frame 1 includes an upper frame 101, a lower frame 102 and a traveling mounting frame 103. The internal space of the upper frame 101 and the lower frame 102 is equipped with a power transmission device 2. The left and right sides of the lower frame 102 are respectively provided with traveling mounting frames 103. The traveling devices 3 on both sides are respectively swingably mounted on the traveling mounting frames 103 on both sides, and the traveling devices 3 are connected to the power transmission device 2 through the traveling mounting frames 103 for transmission. The knocking operation device 4 and the sound collection device 5 are installed at the front end or the rear end of the lower frame 102. The upper frame 101 and the lower frame 102 form a cavity inside for installing the power transmission device 2 and realizing the transmission connection between the power transmission device 2 and the traveling device 3.

[0037] See also Figure 3 , 4The power transmission device 2 includes a front-to-back swing drive mechanism and an up-and-down swing drive mechanism. The front-to-back swing drive mechanism includes a motor 201, a motor output shaft 202, a driving gear 203, a driven gear 204 and a driven shaft 213. The motor output shaft 202 of the motor 201 is provided with a driving gear 203. The driven shaft 213 is parallel to the motor output shaft 202. The driven gear 204 is provided on the driven shaft 213. The driving gear 203 and the driven gear 204 are meshed and driven. The motor output shaft 202 and the driven shaft 213 are respectively connected to the walking devices 3 on both sides to drive the walking devices 3 to swing back and forth. The up-and-down swing drive mechanism is synchronized with the front-to-back swing drive mechanism to drive the walking devices 3 to swing up and down. When the motor 201 rotates, the motor output shaft 202 rotates. Since the driving gear 203 and the driven gear 204 are meshed, the driven shaft 213 is driven to rotate synchronously and in opposite directions.

[0038] Further, see Figure 3 The walking device 3 includes a turbine 301, a worm 302, an electromagnet I 303, an electromagnet II 304, a central electromagnet 305, a swing link 306 and an electromagnet mounting frame 309. Two swing links 306 are rotatably mounted on the walking mounting frame 103. A worm 302 is mounted inside the walking mounting frame 103. Both ends of the worm 302 are rotatably connected to the lower frame 102. A vortex is fixedly mounted on one of the swing links 306 on each side of the walking mounting frame 103 and at one end located inside the walking mounting frame 103. The wheel 301, the turbine 301 is meshed with the worm 302 on the corresponding side for transmission, and the other end of the two swing links 306 on each side is hingedly mounted with an electromagnet mounting frame 309, and the lower ends of the electromagnet mounting frame 309 are respectively mounted with electromagnet I 303 and electromagnet II 304; at least one central electromagnet 305 is installed at the bottom of the lower frame 102; the up and down swing driving mechanism is connected and transmitted with the walking mounting frame 103; the motor output shaft 202 and the driven shaft 213 are respectively connected and transmitted with the worm 302 on both sides to drive the worm 302 to rotate. The worm 302 on both sides are driven to rotate by the motor output shaft 202 and the driven shaft 213 respectively. Since the turbine 301 is meshed with the worm 302 and the turbine 301 is fixedly connected to the swing link 306, when the worm 302 rotates forward and reverse, the turbine 301 slides on the worm 302, thereby driving the swing link 306 to swing, thereby driving the electromagnet mounting frame 309 to swing back and forth. In the process of the electromagnet mounting frame 309 swinging back and forth, the up and down swinging drive mechanism is connected to the walking mounting frame 103 for transmission, driving the walking mounting frame 103 to swing up and down, thereby causing the electromagnet mounting frame 309 to swing up and down.

[0039] See also Figure 8 , 9 , respectively, are the top view and the front view of the first state of the robot walking device. Figure 8 In the embodiment, the swing link 306 swings backward to the limit, at which time the electromagnet I 303, the electromagnet II 304 and the central electromagnet 305 are in the same plane, as shown in FIG. Fig. 9 shown.

[0040] See also Fig.10 , 11 , respectively, are the top view and front view of the second state of the robot walking device. Fig.10 In the embodiment, the swing link 306 swings forward to the limit, at which time the electromagnet I 303, the electromagnet II 304 and the central electromagnet 305 are also in the same plane, as shown in FIG. Fig.11 shown.

[0041] See also Fig.12 , 13 , respectively, are the top view and front view of the third state of the robot walking device. Fig.12 In the embodiment, the swing link 306 swings to the middle position, at which time the electromagnet I 303 and the electromagnet II 304 are located on the upper side of the central electromagnet 305, as shown in FIG. Fig.12 shown.

[0042] In this embodiment, see Figure 3 , 4 The up and down swing driving mechanism includes an active bevel gear 209, a driven bevel gear 210, a spiral inner shaft 211, a spiral positioning pin 307 and a connecting rod 308. The active bevel gear 209 is installed on the driven shaft 213, and the driven bevel gear 210 is installed below the spiral inner shaft 211. The driven bevel gear 210 is meshed with the active bevel gear 209 for transmission. Two spiral positioning pins 307 are respectively installed on the left and right sides of the spiral inner shaft 211 for upward and downward guiding sliding. A slide groove 212 is provided on the spiral inner shaft 211. One end of the spiral positioning pin 307 extends into the slide groove 212, and the other end is hinged to one end of the connecting rod 308. The other end of the connecting rod 308 is hinged to the walking mounting frame 103. When the driven shaft 213 rotates, the driving bevel gear 209 is driven to rotate, and the driving bevel gear 209 in turn drives the driven bevel gear 210 to rotate, and the driven bevel gear 210 in turn drives the spiral inner circular shaft 211 to rotate. The outer wall of the spiral inner circular shaft 211 is provided with a slide groove 212, and the spiral positioning pin 307 slides up and down by cooperating with the slide seat. Figure 3 The middle slide is not shown, and one end of the spiral positioning pin 307 extends into the slide groove 212. When the spiral positioning pin 307 rotates, the spiral positioning pin 307 can be driven to move up and down. Since the spiral positioning pin 307 is hinged to the walking mounting frame 103 through the connecting rod 308, the walking mounting frame 103 is pushed and pulled up and down, so that the walking mounting frame 103 revolves around the worm 302, thereby driving the electromagnet mounting frame 309 to swing up and down.

[0043] In one of the schemes, see Figure 3 The motor output shaft 202 and the driven shaft 213 are respectively installed with synchronous pulleys Ⅰ205 and synchronous pulleys Ⅱ206, and the worm gears 302 on both sides are also installed with corresponding synchronous pulleys. The synchronous pulleys on the worm gears 302 on both sides are respectively connected to the synchronous pulleys Ⅰ205 and synchronous pulleys Ⅱ206 through synchronous belts Ⅰ207 and synchronous belts Ⅱ208.

[0044] In addition to driving the worm 302 on both sides to rotate in the above manner, the motor output shaft 202 and the driven shaft 213 can also be driven by gear meshing, that is, the motor output shaft 202 and the driven shaft 213 are respectively connected to the worm 302 by gear transmission.

[0045] In this embodiment, see Figure 4 , 7 The slide groove 212 is a symmetrical ring structure with one end high and the other end low.

[0046] In this embodiment, see Figure 6 The knocking operation device 4 includes a steering gear 401, a knocking hammer mounting frame 402, a return spring 403, a knocking hammer handle 404, a knocking hammer head 405, and a knocking hammer output shaft 406. One end of the knocking hammer handle 404 is movably mounted on the knocking hammer mounting frame 402 through a pivot, and a return spring 403 is also mounted on the pivot. One end of the return spring 403 acts on the knocking hammer mounting frame 402, and the other end acts on the knocking hammer handle 404. A cam 407 is also mounted on the knocking hammer mounting frame 402 through the knocking hammer output shaft 406, and the protruding end of the cam 407 can abut against the knocking hammer handle 404. A steering gear 401 is mounted on one side of the knocking hammer mounting frame 402, and the output shaft of the steering gear 401 is connected and transmitted with the knocking hammer output shaft 406; the knocking hammer head 405 is mounted on the other end of the knocking hammer handle 404. The servo 401 drives the hammer output shaft 406 to rotate, thereby driving the cam 407 to rotate. When the cam 407 rotates, the protruding end of the cam 407 can abut against the hammer handle 404. When the protruding end of the cam 407 continues to rotate, the protruding end of the cam 407 presses the hammer handle 404 downward and tilts it. Then the protruding end of the cam 407 is misaligned with the hammer handle 404. At this time, the hammer handle 404 is quickly reset under the action of the reset spring 403, so that the hammer head 405 knocks the stator slot wedge. As long as the cam 407 rotates one circle, the hammer head 405 can knock once. In this embodiment, the reset spring 403 is a torsion spring.

[0047] In this embodiment, see Figure 1 , 2 The number of the knocking operation devices 4 is two, and the sound collection device 5 is arranged between the two knocking operation devices 4.

[0048] In this embodiment, the sound collecting device 5 adopts an Audio-Technica AT899 ultra-small omnidirectional microphone.

[0049] Embodiment 2: A method for using a generator set stator and rotor narrow gap inspection robot is used to walk in the narrow gap 6 between the stator and rotor of the generator set and detect the tightness of the stator slot wedge. The method includes the following steps: During the crawling stage, the motor 201 rotates back and forth at a fixed point, and the motor output shaft 202 and the driven shaft 213 rotate synchronously, thereby driving the worm 302 of the walking device 3 on both sides to rotate, thereby driving the swing link 306 to swing forward or backward, thereby synchronously driving the electromagnet mounting brackets 309 on both sides to swing forward or backward.

[0050] When the electromagnet mounting frame 309 swings forward or backward, the driven shaft 213 synchronously drives the spiral inner shaft 211 to rotate, thereby driving the spiral positioning pin 307 to reciprocate up and down. When the spiral positioning pin 307 reciprocates up and down, the traveling mounting frame 103 is driven to swing up and down through the connecting rod 308.

[0051] When the electromagnet mounting frame 309 swings forward or backward, the electromagnet I 303 and the electromagnet II 304 are powered off, and the central electromagnet 305 is powered on. The central electromagnet 305 is adsorbed on the working surface to prevent the robot from falling. When the electromagnet mounting frame 309 falls to the lowest point, the electromagnet I 303 and the electromagnet II 304 are powered on. The electromagnet I 303 and the electromagnet II 304 are adsorbed on the working surface, and the electromagnet 305 is powered off, thereby performing an inchworm-like upward or downward movement.

[0052] In the detection stage, the knocking device 4 knocks the stator slot wedge, and the sound collection device 5 collects the sound information generated by the knocking vibration of the knocking device 4. Then, the tightness of the slot wedge can be identified by post-processing the collected sound information.

[0053] The method for post-processing the sound information includes: extracting the characteristics of the sound through frequency analysis, time domain analysis, and frequency domain analysis of the knocking sound, and comparing it with the sound samples of various states of the slot wedge, so as to obtain the tightness state of the slot wedge. The present invention can quickly detect all the slot wedges of the generator set, automatically save the original data, and generate a tightness pattern cloud map report matching the slot wedge position.

Claims

1. A generator set stator and rotor narrow gap inspection robot, characterized in that: The robot comprises a frame (1), a power transmission device (2), a walking device (3), a knocking device (4) and a sound collection device (5) arranged on the frame (1); wherein the power transmission device (2) provides power support for the robot, the walking device (3) is used to drive the robot to perform inchworm-like movement in a narrow gap (6) between the stator and rotor of a generator set, the knocking device (4) is used to perform a knocking operation on a stator slot wedge, and the sound collection device (5) is used to collect sound information generated by the knocking vibration of the knocking device (4) to detect the tightness of the stator slot wedge.

2. A generator set stator and rotor narrow gap inspection robot according to claim 1, characterized in that: The frame (1) comprises an upper frame (101), a lower frame (102) and a traveling mounting frame (103); a power transmission device (2) is installed in the internal space of the upper frame (101) and the lower frame (102); a traveling mounting frame (103) is provided on the left and right sides of the lower frame (102); the traveling devices (3) on both sides are swingably mounted on the traveling mounting frames (103) on both sides, and the traveling devices (3) are connected to the power transmission device (2) for transmission via the traveling mounting frames (103); and the knocking operation device (4) and the sound collection device (5) are installed at the front end or the rear end of the lower frame (102).

3. A generator set stator and rotor narrow gap inspection robot according to claim 2, characterized in that: The power transmission device (2) comprises a front-to-back swing drive mechanism and an up-and-down swing drive mechanism, wherein the front-to-back swing drive mechanism comprises a motor (201), a motor output shaft (202), a driving gear (203), a driven gear (204) and a driven shaft (213); the motor output shaft (202) of the motor (201) is provided with a driving gear (203); the driven shaft (213) is parallel to the motor output shaft (202); the driven shaft (213) is provided with a driven gear (204); the driving gear (203) and the driven gear (204) are meshed for transmission; the motor output shaft (202) and the driven shaft (213) are respectively connected to the walking devices (3) on both sides for driving the walking devices (3) to swing back and forth; the up-and-down swing drive mechanism is synchronized with the front-to-back swing drive mechanism for driving the walking devices (3) to swing up and down.

4. A generator set stator and rotor narrow gap inspection robot according to claim 3, characterized in that: The walking device (3) comprises a turbine (301), a worm (302), an electromagnet I (303), an electromagnet II (304), a central electromagnet (305), a swing link (306) and an electromagnet mounting frame (309); two swing links (306) are rotatably mounted on the walking mounting frame (103); a worm (302) is mounted inside the walking mounting frame (103); both ends of the worm (302) are rotatably connected to the lower frame (102); a turbine is fixedly mounted on one of the swing links (306) on each side of the walking mounting frame (103) and at one end located inside the walking mounting frame (103); The wheel (301) is meshed with the worm (302) on the corresponding side for transmission; the other end of the two swing connecting rods (306) on each side is hingedly mounted with an electromagnet mounting frame (309); the lower ends of the electromagnet mounting frame (309) are respectively mounted with an electromagnet I (303) and an electromagnet II (304); at least one central electromagnet (305) is mounted at the bottom of the lower frame (102); the up and down swing driving mechanism is connected to the traveling mounting frame (103) for transmission; the motor output shaft (202) and the driven shaft (213) are respectively connected to the worm (302) on both sides for driving the worm (302) to rotate.

5. A generator set stator and rotor narrow gap inspection robot according to claim 4, characterized in that: The up-and-down swing driving mechanism comprises a driving bevel gear (209), a driven bevel gear (210), a spiral inner shaft (211), a spiral positioning pin (307) and a connecting rod (308); the driving bevel gear (209) is mounted on the driven shaft (213); the driven bevel gear (210) is mounted below the spiral inner shaft (211); the driven bevel gear (210) and the driving bevel gear (209) are meshed and driven; two spiral positioning pins (307) are respectively mounted on the left and right sides of the spiral inner shaft (211) to slide upward and downward; a slide groove (212) is provided on the spiral inner shaft (211); one end of the spiral positioning pin (307) extends into the slide groove (212); the other end is hinged to one end of the connecting rod (308); the other end of the connecting rod (308) is hinged to the travel mounting frame (103).

6. The generator set stator and rotor narrow gap inspection robot according to claim 4, characterized in that: The motor output shaft (202) and the driven shaft (213) are respectively mounted with a synchronous pulley I (205) and a synchronous pulley II (206), and the worm gears (302) on both sides are also mounted with corresponding synchronous pulleys. The synchronous pulleys on the worm gears (302) on both sides are respectively connected to the synchronous pulley I (205) and the synchronous pulley II (206) through a synchronous belt I (207) and a synchronous belt II (208).

7. The generator set stator and rotor narrow gap inspection robot according to claim 5, characterized in that: The slide groove (212) is a symmetrical ring structure with one end being high and the other end being low.

8. The generator set stator and rotor narrow gap inspection robot according to claim 1, characterized in that: The knocking operation device (4) comprises a steering gear (401), a knocking hammer mounting frame (402), a return spring (403), a knocking hammer handle (404), a knocking hammer head (405), and a knocking hammer output shaft (406); one end of the knocking hammer handle (404) is movably mounted on the knocking hammer mounting frame (402) via a pivot, and a return spring (403) is also mounted on the pivot; one end of the return spring (403) acts on the knocking hammer mounting frame (402), and the other end acts as a The invention is used for a striking hammer handle (404); a cam (407) is also installed on the striking hammer mounting frame (402) via a striking hammer output shaft (406); a protruding end of the cam (407) can abut against the striking hammer handle (404); a steering gear (401) is installed on one side of the striking hammer mounting frame (402); an output shaft of the steering gear (401) is connected to the striking hammer output shaft (406) for transmission; and the striking hammer head (405) is installed on the other end of the striking hammer handle (404).

9. A generator set stator and rotor narrow gap inspection robot according to claim 1 or 8, characterized in that: The number of the knocking operation devices (4) is two, and the sound collection device (5) is arranged between the two knocking operation devices (4).

10. A method for using the generator set stator and rotor narrow gap inspection robot according to claim 5, characterized in that: It is used to walk in the narrow gap (6) between the stator and rotor of the generator set and to detect the tightness of the stator slot wedge. The method of use includes the following steps: In the crawling stage, the motor (201) rotates forward and reverse at a fixed point, and the motor output shaft (202) and the driven shaft (213) rotate synchronously, thereby driving the worm (302) of the walking devices (3) on both sides to rotate, thereby driving the swing connecting rod (306) to swing forward or backward, thereby synchronously driving the electromagnet mounting frames (309) on both sides to swing forward or backward; When the electromagnet mounting frame (309) swings forward or backward, the driven shaft (213) synchronously drives the spiral inner shaft (211) to rotate, thereby driving the spiral positioning pin (307) to reciprocate up and down. When the spiral positioning pin (307) reciprocates up and down, the traveling mounting frame (103) is driven to swing up and down through the connecting rod (308); When the electromagnet mounting frame (309) swings forward or backward, the electromagnet I (303) and the electromagnet II (304) are powered off, the central electromagnet (305) is powered on, and the central electromagnet (305) is adsorbed on the working surface to prevent the robot from falling. When the electromagnet mounting frame (309) falls to the lowest point, the electromagnet I (303) and the electromagnet II (304) are powered on, and the electromagnet I (303) and the electromagnet II (304) are adsorbed on the working surface, and the electromagnet (305) is powered off; During the detection phase, the knocking operation device (4) performs a knocking operation on the stator slot wedge, and at the same time, the sound collection device (5) collects sound information generated by the knocking vibration of the knocking operation device (4).

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