Narrow-gap electromagnetic drive inspection robot device

Abstract

The utility model discloses a narrow-gap electromagnetic drive inspection robot device which comprises a frame, magnetic wheel sets are installed on the two sides of the frame respectively, an image module is installed at the front end or the rear end of the frame, a supporting module is installed on the frame, the supporting module comprises supporting idler wheels, and the supporting idler wheels are elastically installed on the frame. By means of the magnetic wheel sets installed on the two sides of the frame and the supporting module installed on the frame, the robot can walk longitudinally and stably in a narrow gap between a generator set stator and a rotor, and an operator can conduct nondestructive testing on the surface of the generator set stator through the image module.

Description

Technical Field

[0001] The utility model relates to the technical field of internal inspection and processing of stators and rotors of generator sets, in particular to a narrow-gap electromagnetic driven inspection robot device. Background Art

[0002] Large hydroelectric generators are key operating mechanisms in the hydropower generation process. The stator is the primary component of the generator, and the core and windings are crucial for generating the magnetic field and maintaining proper operation. The core consists of slot wedges, corrugated plates, gaskets, and wire rods. Surface scanning and photographic inspection of the stator slot wedges is crucial for ensuring the generator's long-term, stable operation. For large hydroelectric generators, generator manufacturers often reinforce the stator wire rods with slot wedges and spacers, or a combination of slot wedges, spacers, and corrugated plates. However, with long-term operation, the electromagnetic force of the wire rods continuously acts, causing the deformation of the spacers or corrugated plates to gradually decrease. This can lead to the slot wedges loosening or even falling off, posing a significant safety hazard. Therefore, scanning and photographic inspection of the generator slot wedges and maintenance are essential during scheduled maintenance to ensure the generator's normal and safe operation. Traditional inspection techniques, performed with the generator rotor suspended, pose challenges such as long inspection cycles, high labor costs, and increased risk of equipment damage. However, for large hydro-turbine generators, the stator slot wedge surface inspection 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 a generator set stator and rotor internal inspection and processing device that can realize non-destructive inspection of the generator stator surface through scanning and photography technology. Utility Model Content

[0003] The purpose of the utility model is to provide a narrow gap electromagnetic driven inspection robot device. Through the magnetic wheel groups installed on both sides of the frame and the support module installed on the frame, the robot can move stably longitudinally in the narrow gap between the stator and rotor of the generator set, so that the operator can perform non-destructive testing on the surface of the generator stator through the image module.

[0004] To achieve the above-mentioned purpose, the utility model provides a narrow gap electromagnetic driven inspection robot device, including a frame, magnetic wheel groups are respectively installed on both sides of the frame, an image module is installed at the front end or the rear end of the frame, and a support module is installed on the frame, the support module includes a support roller, and the support roller is elastically installed on the frame.

[0005] The support module also includes a mounting seat, a hinge seat, a pivot, a rocker arm, a support shaft, a transverse shaft and a torsion spring. Two hinge seats are provided on the mounting seat, one end of the two rocker arms are hinged to the two hinge seats respectively through a pivot, and the other end of the two rocker arms is fixedly connected to the support shaft. The support roller is rotatably mounted on the support shaft, and the transverse shaft is fixedly mounted between the two rocker arms. At least one torsion spring is mounted on the pivot, and one end of the torsion spring acts on the mounting seat, and the other end acts on the transverse shaft; the mounting seat is used to be mounted on the frame.

[0006] The magnetic wheel set adopts a magnetic track wheel set or adopts a plurality of magnetic wheels.

[0007] The image module includes a support base, one end of the support base is connected to the vehicle frame, and the other end is provided with a mounting groove, and a camera is installed in the mounting groove.

[0008] There are three mounting grooves, and there is an angle between adjacent mounting grooves.

[0009] A battery is installed at the bottom of the frame.

[0010] The support modules are provided in two groups.

[0011] Compared with the prior art, the present invention has the following technical effects:

[0012] In the utility model, magnetic wheel groups are installed on both sides of the frame, which reduces the height of the frame. A support module is installed on the frame. When in use, the support rollers of the support module are elastically supported on the other side, so that when the height of the robot can be minimized, it can also stably walk longitudinally in the narrow gap between the stator and the rotor of the generator set, so that the operator can perform non-destructive testing on the surface of the generator stator through the image module. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art description:

[0014] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0015] Figure 2 This is a schematic diagram of the top view of the structure of the utility model;

[0016] Figure 3 This is a side view of the structure of the utility model;

[0017] Figure 4 This is a structural diagram of the support module of the utility model;

[0018] Figure 5 This is a state diagram of the utility model when used in a narrow gap.

[0019] In the picture:

[0020] Frame 10, magnetic wheel 11;

[0021] Image module 20, support base 21, mounting slot 22, camera 23;

[0022] Support module 30, mounting base 31, hinge base 32, pivot 33, swing arm 34, support shaft 35, transverse shaft 36; torsion spring 37, support roller 38;

[0023] Battery 40;

[0024] Narrow gap 50. DETAILED DESCRIPTION

[0025] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0026] See Figure 1-5 A narrow-gap electromagnetically driven inspection robot device includes a frame 10 with magnetic wheels mounted on either side of the frame 10. An imaging module 20 is mounted on the front or rear end of the frame 10. A support block 30 is mounted on the frame 10. The support module 30 includes support rollers 38 elastically mounted on the frame 10. The magnetic wheels mounted on either side of the frame 10 and the support module 20 mounted on the frame 10 enable the robot to stably navigate longitudinally within the narrow gap 50 between the stator and rotor of a generator set, allowing operators to perform nondestructive testing of the generator stator surface using the imaging module 20.

[0027] The image module 20 may be a single camera or multiple cameras.

[0028] The magnetic wheel assembly is mounted on both sides of the frame 10 to reduce the height of the frame 10. The frame 10 is mounted with a support module 20. Figure 5 When in use, the support roller 38 of the support module 20 is elastically supported on the other side, so that when the height of the robot is at the lowest, it can still stably walk longitudinally in the narrow gap 50.

[0029] In a preferred embodiment, see Figure 3The support module 30 also includes a mounting base 31, a hinge base 32, a pivot 33, a rocker arm 34, a support shaft 35, a transverse shaft 36, and a torsion spring 37. The mounting base 31 is provided with two hinge bases 32. One end of each rocker arm 34 is hingedly connected to the two hinge bases 32 via the pivot 33. The other ends of the rocker arms 34 are fixedly connected to the support shaft 35. The support roller 38 is rotatably mounted on the support shaft 35. The transverse shaft 36 is fixedly mounted between the rocker arms 34. At least one torsion spring 37 is mounted on the pivot 33. One end of the torsion spring 37 acts on the mounting base 31 and the other end acts on the transverse shaft 36. The mounting base 31 is configured to be mounted on the vehicle frame 10. The elastic force of the torsion spring 37 provides elastic support for the support roller 38. During use, the rocker arm 34 tilts toward the side receiving the force of the torsion spring 37.

[0030] The magnetic wheel set adopts a magnetic track wheel set or adopts a plurality of magnetic wheels 11. Figure 1 In the embodiment, the magnetic wheel set adopts the magnetic wheel 11.

[0031] The magnetic wheel set can adopt a magnetic track wheel disclosed in CN211519696U, or a magnetic track assembly disclosed in CN211995910U.

[0032] The magnetic wheel set can also adopt the walking mechanism disclosed in CN111550683A and apply it to the present application. The left shell and the right shell constitute a part of the frame 10 of the present application.

[0033] See also Figure 1 、 2 The image module 20 includes a support base 21 , one end of the support base 21 is connected to the vehicle frame 10 , and the other end is provided with a mounting groove 22 , in which a camera 23 is installed.

[0034] Furthermore, three mounting slots 22 are provided, with adjacent mounting slots 22 angled to provide a wider viewing angle. The camera 23 can be equipped with a light for convenient illumination. The imaging module 20 is mounted at the end of the frame 10, and the camera 23 is mounted within the mounting slots 22, eliminating the need for height space in the robot.

[0035] Furthermore, a battery 40 is installed at the bottom of the frame 10 to provide power to the magnetic wheel set and the camera 23.

[0036] Of course, in order to facilitate control, the support base 21 can also be equipped with a controller, and the operator can control the robot through an umbilical cable or a remote control. The image module 20 can also have a wireless image transmission function, which reduces the constraints of cables.

[0037] In this embodiment, see Figure 1 、 3, there are two groups of support modules 30, which provide better support stability.

[0038] The working principle of this utility model:

[0039] See also Figure 5 By controlling the rotation of the magnetic wheel assembly, the robot device is able to smoothly enter the narrow gap 50 inside the stator and rotor. When the robot device moves, the support module 30 is subjected to pressure to ensure that the support module 30 is in close contact with the stator and rotor, thereby ensuring the smooth longitudinal movement of the support module 30. At the same time, the imaging module 20 is responsible for capturing images and recording the internal status of the stator and rotor in real time. This design enables the robot device to operate efficiently and stably when performing internal inspection and maintenance tasks, ensuring the acquisition of clear and accurate visual data, saving time and effort, and achieving low cost and high efficiency. The overall robot device is lightweight, highly flexible, and simple and convenient to operate.

Claims

1. A narrow gap electromagnetic driven inspection robot device, comprising a frame (10), characterized in that: Magnetic wheel sets are respectively installed on both sides of the vehicle frame (10), an image module (20) is installed at the front end or the rear end of the vehicle frame (10), and a support module (30) is installed on the vehicle frame (10), wherein the support module (30) includes a support roller (38), and the support roller (38) is elastically installed on the vehicle frame (10).

2. The narrow gap electromagnetic driven inspection robot device according to claim 1, characterized in that: The support module (30) further comprises a mounting seat (31), a hinge seat (32), a pivot (33), a rocker (34), a support shaft (35), a transverse shaft (36) and a torsion spring (37). Two hinge seats (32) are provided on the mounting seat (31). One end of the two rocker rods (34) are respectively hinged to the two hinge seats (32) through the pivot (33). The other end of the two rocker rods (34) are fixedly connected to the support shaft (35). The support roller (38) is rotatably mounted on the support shaft (35). The transverse shaft (36) is fixedly mounted between the two rocker rods (34). At least one torsion spring (37) is mounted on the pivot (33). One end of the torsion spring (37) acts on the mounting seat (31) and the other end acts on the transverse shaft (36). The mounting seat (31) is used to be mounted on the vehicle frame (10).

3. The narrow gap electromagnetic driven inspection robot device according to claim 1, characterized in that: The magnetic wheel set adopts a magnetic track wheel set or adopts a plurality of magnetic wheels (11).

4. The narrow gap electromagnetic driven inspection robot device according to claim 1, characterized in that: The image module (20) comprises a support base (21), one end of the support base (21) is connected to the vehicle frame (10), and the other end is provided with a mounting groove (22), and a camera (23) is installed in the mounting groove (22).

5. The narrow gap electromagnetic driven inspection robot device according to claim 4, characterized in that: Three mounting grooves (22) are provided, and an angle exists between adjacent mounting grooves (22).

6. The narrow gap electromagnetic driven inspection robot device according to claim 1, characterized in that: A battery (40) is installed at the bottom of the vehicle frame (10).

7. The narrow gap electromagnetic driven inspection robot device according to claim 1 or 2, characterized in that: The support modules (30) are provided in two groups.

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