A generator set free-pulling rotor slot wedge detection robot capable of automatic slot change detection

Abstract

The application discloses a generator set free-pulling rotor slot wedge detection robot capable of automatically changing slots and detecting, and relates to the technical field of generator set slot wedge detection.The application does not need to pull out the generator rotor, and directly enters the gap between the rotor and the stator to detect the slot wedge by the detection device.The detection device has the ability to overcome uneven surfaces, and can automatically change slots to the adjacent slot wedge for detection after detecting a group of slot wedges, so that the detection of the entire stator slot wedge is completed.When changing the slot, the slot changing moving mechanism drives the outer frame to move to the adjacent slot wedge, the adsorption mechanism extends to adsorb and fix the stator laminations between the two slot wedges after moving to the position, the rotor rolling frame mechanism is lowered, the robot main cabin is lifted, the slot changing moving mechanism drives the middle layer frame to move to the adjacent slot wedge together with the robot main cabin after being lifted, the robot main cabin is lowered, the rotor rolling frame mechanism is lifted, the adsorption mechanism is cancelled and is retracted, and finally the outer frame is adjusted to be centered.

Description

Technical Field

[0001] This invention relates to the field of generator set slot wedge detection technology, and more specifically to a generator set rotor slot wedge detection robot that can automatically change slots and detect them without removing the rotor slot wedges. Background Technology

[0002] In the power industry, power plant equipment typically has a long service life. During long-term operation, large generator sets experience stator slot wedge loosening, insulation damage, and core wear due to aging, vibration, and wear. If these problems are not detected in time, they will threaten the safe operation of the generator and may even lead to generator malfunctions.

[0003] Because of the small gap between the generator stator and rotor, traditional slot wedge tightness testing equipment is bulky. Therefore, traditional testing methods require removing the generator rotor and having experienced personnel carry the testing equipment into the generator to perform slot wedge testing. Traditional testing methods consume a lot of manpower and resources because they require removing the generator rotor, and the testing cycle is long, resulting in significant losses due to production downtime during maintenance.

[0004] In the prior art, patent CN114148427A discloses a wall-climbing robot for non-removing rotor bore inspection of generator sets, comprising a main frame, a drive module, and a detection module. The main frame has an arc-shaped structure between its left and right ends, and two drive modules are mounted opposite each other on both sides of the main frame. The climbing part of the drive module rolls and adheres to the inner wall of the generator set, and the drive module is equipped with a magnetic suction component for non-contact adsorption to the inner wall of the generator set. The detection module is mounted on the main frame and is used to inspect the inside of the generator set. The above-mentioned wall-climbing robot for non-removing rotor bore inspection of generator sets adopts a modular design, which facilitates the disassembly, assembly, and replacement of various modules and their components, and eliminates the need to remove the rotor from inside the generator set, making it more convenient and faster to use. It can enter the generator stator bore without removing the generator rotor and inspect the performance of the generator set by carrying different testing equipment.

[0005] In the prior art, patent CN112798238B discloses an automatic detection device for the tightness of stator slot wedges, belonging to the field of intelligent detection technology for generator stator bores. It includes an outer frame structure, a vibrator mechanism, and a sound pressure sensor; the vibrator mechanism and sound pressure sensor are located inside the outer frame structure; the sound pressure sensor is located on one side of the vibrator mechanism. This invention is part of an intelligent detection system for the stator bore of large generators. It uses a quickly replaceable structure and is installed on an ultra-thin wall-climbing robot. It can enter the stator bore of the generator along with the ultra-thin wall-climbing robot without removing the generator rotor. Alternatively, it can be handheld or mounted on other devices via a connecting structure. The device uses a built-in micro-vibrator to strike the stator slot wedges at a set frequency, and the built-in sound sensor collects and analyzes the sound signals from the stator slot wedges to determine their tightness.

[0006] The detection devices disclosed in the aforementioned patents all have the following defects: several stator slot wedges are set on the inner sidewall of the stator to form a stator slot wedge group, and the surface of the stator slot wedge group is uneven. The aforementioned detection devices do not have the ability to overcome uneven surfaces, therefore, the aforementioned detection devices cannot automatically change slots to automatically detect another set of slot wedges. Summary of the Invention

[0007] To overcome the shortcomings of the existing technology, this invention discloses a generator set rotor slot wedge inspection robot capable of automatic slot-changing and inspection without the need for removal. The purpose of this invention is to solve the problems of existing inspection devices lacking the ability to overcome obstacles on uneven surfaces and being unable to automatically change slots for inspection of another set of slot wedges. This invention, through the configuration of a robot main cabin, a middle frame, and an outer frame, provides the inspection probe with the ability to move at the required speed. The middle frame and outer frame work together to provide a certain obstacle-crossing capability on uneven surfaces, allowing the robot to actively move along a set direction at the corresponding position on the workpiece to complete the inspection of the slot wedge surface.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A generator set rotor slot wedge inspection robot capable of automatic slot-changing inspection without the need for removing rotor slot wedges, comprising: The robot main cabin is equipped with a walking mechanism at the bottom for walking on the stator laminations, a rotor roller mechanism at the back that can be raised and lowered and supports the rotor surface when raised, and a detection mechanism for detecting slot wedges is also provided on the robot main cabin. A middle rack is located above the robot's main cabin. The middle rack is equipped with a main cabin lifting mechanism and a slot-changing moving mechanism. The main cabin lifting mechanism is connected to the robot's main cabin and drives the robot's main cabin to lift and lower. The outer frame is located outside the robot main compartment and the middle layer frame. A retractable adsorption mechanism is provided on the outer frame. The outer frame is connected to the slot-changing moving mechanism. The slot-changing moving mechanism drives the middle layer frame and the outer frame to move relative to each other to change slots. During slot changing, the slot-changing moving mechanism drives the outer frame to move to the adjacent slot wedge. After moving into position, the adsorption mechanism extends and adsorbs and fixes itself on the stator lamination between the two slot wedges. After adsorption and fixation, the rotor roller mechanism lowers and the robot main compartment rises. After rising, the slot-changing moving mechanism drives the middle layer frame to move together with the robot main compartment to the adjacent slot wedge. After moving into position, the robot main compartment is lowered, the rotor roller mechanism is raised, the adsorption mechanism is removed and retracted, and finally the outer frame is adjusted to be centered. The delivery rack is located on the outer side of the stator end of the generator set. The robot main cabin, middle frame and outer frame are combined to form a detection device. The detection device is placed on the delivery rack before detection and enters and exits the stator belly space through the delivery rack during detection. The control device is electrically connected to the walking mechanism, rotor roller mechanism, detection mechanism, main cabin lifting mechanism, trough changing moving mechanism and adsorption mechanism to control their operation.

[0009] Preferably, the walking mechanism is a differentially driven dual-track electromagnetic adsorption walking mechanism, wherein the dual tracks are respectively located on the stator laminations on the left and right sides of the slot wedge.

[0010] Preferably, the rotor roller mechanism includes a rotor roller, a roller lifting assembly, and a lifting drive component; The rotor roller frame has several rolling elements installed at its top along its length, which are in contact with the rotor surface. The arrangement direction of the rolling elements is consistent with the length direction of the slot wedge. The roller frame lifting assembly has two sets, which are respectively arranged at the front and rear ends of the rotor roller frame. The top end of the roller frame lifting assembly is connected to the rotor roller frame, and the bottom end is connected to the robot main cabin. The lifting drive is connected to the roller frame lifting assembly, which drives the roller frame lifting assembly to lift and lower, thereby driving the rotor roller frame to pass through the middle frame for lifting and lowering.

[0011] Preferably, the roller lifting assembly includes a first roller link and a second roller link that are hinged to each other. The top end of the first roller link is hinged to the rotor roller and the bottom end is slidably mounted on the top of the robot main cabin. The top end of the second roller link is slidably mounted on the rotor roller and the bottom end is hinged to the top of the robot main cabin.

[0012] Preferably, the detection mechanism includes a detection probe and a laparoscope assembly installed at the bottom of the robot's main cabin. Two sets of the detection probe and laparoscope assembly are provided and arranged at the front and rear of the robot's main cabin. The laparoscope assembly takes a top-down view of the stator slot wedge and the edge line of the stator lamination, thereby visually judging and guiding the differential fine adjustment of the dual tracks, so that the dual tracks are aligned and move forward along the edge line.

[0013] Preferably, the main cabin lifting mechanism consists of several lifting components disposed at the bottom of the middle shelf, and the lifting bottom end of the lifting component is connected to the top of the robot main cabin.

[0014] Preferably, the slot-changing moving mechanism is located at both ends of the middle shelf, and the slot-changing moving mechanism includes a drive gear, a clamping guide wheel, and a slot-changing driving component; the slot-changing driving component drives the drive gear to rotate, and both the drive gear and the clamping guide wheel extend outward from the middle shelf, and there are two clamping guide wheels, one on the left and one on the right.

[0015] Preferably, the outer frame has an arc, and the front and rear top ends of the outer frame are arc surfaces that are adapted to and roll in contact with the pressing guide wheel. An arc groove is provided on the outer frame, and a rack that meshes with the drive gear is provided in the arc groove.

[0016] Preferably, the adsorption mechanism is a retractable electromagnetic adsorption foot, which, when extended, adsorbs and fixes itself onto the stator laminations between the two slot wedges.

[0017] Preferably, the delivery frame includes a support and a delivery plate at the top of the support. The top of the delivery plate has a slot along its length, and a stopping structure space is formed on the delivery plate. The stopping structure space is aligned with the stator slot wedge to form a transition path. Before detection, the detection device is placed on the stopping structure space and enters and exits the stator web space through the transition path for detection.

[0018] The beneficial effects of this invention are: 1. The generator set rotor slot wedge inspection robot provided by the present invention has the inspection device placed on the delivery rack before inspection. During inspection, it enters and exits the stator belly space through the delivery rack to perform inspection. It does not require removing the generator rotor. The inspection device directly enters the gap between the rotor and the stator to perform slot wedge inspection. Compared with removing the generator rotor for inspection, the present invention does not require a lot of manpower and material resources, has a shorter inspection cycle, and avoids losses caused by long-term production stoppage due to maintenance.

[0019] 2. The generator set rotor slot wedge inspection robot provided by this invention has the ability to overcome obstacles on uneven surfaces. After inspecting a set of slot wedges, the inspection device can automatically switch to an adjacent slot wedge for inspection, thereby completing the inspection of the entire stator slot wedge. During slot switching, the slot switching moving mechanism drives the outer frame to move to the adjacent slot wedge. After moving into position, the adsorption mechanism extends and adsorbs and fixes itself onto the stator lamination between the two slot wedges. After adsorption and fixation, the rotor roller mechanism lowers and the robot main compartment rises. After rising, the slot switching moving mechanism then drives the middle frame to move together with the robot main compartment to the adjacent slot wedge. After moving into position, the robot main compartment is lowered, the rotor roller mechanism is raised, the adsorption mechanism is removed and retracted, and finally the outer frame is adjusted to be centered. It eliminates the need for manual slot switching inspection, saving stator slot wedge inspection time and improving stator slot wedge inspection efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the detection robot and the stator and rotor of the generator set according to the present invention; Figure 2 for Figure 1 Enlarged view of part A in the image; Figure 3 This is a side view of the robot and the stator and rotor of the generator set used in this invention. Figure 4 for Figure 3 Enlarged view of part B in the image; Figure 5 This is a schematic diagram of the detection device of the present invention; Figure 6 This is a schematic diagram of the main cabin of the robot of the present invention; Figure 7 This is a schematic diagram of the main cabin of the robot of the present invention from another perspective; Figure 8 This is a schematic diagram of the rotor roller mechanism of the present invention; Figure 9 This is a schematic diagram of the shelf in this invention; Figure 10 This is a schematic diagram of the outer frame of the present invention; Figure 11 This is a schematic diagram of the delivery rack of the present invention; Figure label: 1. Robot main cabin; 11. Walking mechanism; 12. Rotor roller mechanism; 121. Rotor roller; 122. Rolling element; 123. First roller connecting rod; 124. Second roller connecting rod; 13. Detection mechanism; 131. Detection probe; 132. Laparoscope assembly; 2. Middle shelf; 21. Main cabin lifting mechanism; 22. Slot changing moving mechanism; 221. Drive gear; 222. Pressing guide wheel; 3. Outer frame; 31. Adsorption mechanism; 32. Arc-shaped slot; 4. Dispensing rack; 41. Support; 42. Dispensing plate; 43. Slotting. Detailed Implementation

[0021] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention.

[0022] Example 1 A generator set rotor slot wedge inspection robot capable of automatic slot changing and inspection, as shown in the attached diagram of the instruction manual. Figures 1-11 As shown, it includes: The robot main compartment 1 has a walking mechanism 11 at the bottom for walking on the stator laminations, a rotor roller mechanism 12 at the back that can be raised and lowered and supports the rotor surface after being raised, and a detection mechanism 13 for detecting slot wedges on the robot main compartment 1. The middle rack 2 is located above the robot main cabin 1. The middle rack 2 is equipped with a main cabin lifting mechanism 21 and a slot changing moving mechanism 22. The main cabin lifting mechanism 21 is connected to the robot main cabin 1 and drives the robot main cabin 1 to lift and lower. The outer frame 3 is located outside the robot main cabin 1 and the middle shelf 2. The outer frame 3 is equipped with a retractable adsorption mechanism 31. The outer frame 3 is connected to the slot changing moving mechanism 22. The slot changing moving mechanism 22 drives the middle shelf 2 and the outer frame 3 to move relative to each other to change slots. The delivery rack 4 is located on the outer side of the stator end of the generator set. The robot main cabin 1, the middle frame 2 and the outer frame 3 are combined to form a detection device. The detection device is placed on the delivery rack 4 before detection and enters and exits the stator belly space through the delivery rack 4 during detection. The control device is electrically connected to the walking mechanism 11, the rotor roller mechanism 12, the detection mechanism 13, the main cabin lifting mechanism 21, the trough changing moving mechanism 22, and the adsorption mechanism 31 to control their operation.

[0023] In this embodiment, the robot main compartment 1 serves as the detection body. The walking mechanism 11 is used for the detection device to move within the slot wedge, performing detection while moving. When the rotor roller mechanism 12 rises, it supports the rotor surface, providing sufficient radial adhesion for the detection device within the stator, ensuring stable movement of the detection device and preventing it from accidentally falling out of the air gap. Furthermore, when the rotor roller mechanism 12 rises to support the rotor surface, stabilizing the robot main compartment 1 also indirectly stabilizes the middle frame 2, facilitating slot changing operations by allowing the slot changing mechanism 22 on the middle frame 2 to drive the outer frame 3 to move relative to the middle frame 2. The detection mechanism 13 is used to detect the stator slot wedge.

[0024] The middle frame 2 and the outer frame 3 work together to perform slot-changing operations. The main cabin lifting mechanism 21 drives the robot main cabin 1 to rise and fall, while the slot-changing moving mechanism 22 drives the relative movement between the middle frame 2 and the outer frame 3 for slot changing. The adsorption mechanism 31 adsorbs and fixes the outer frame 3 during the slot-changing process. Specifically, during slot changing, the slot-changing moving mechanism 22 drives the outer frame 3 to move to the adjacent slot wedge. After moving into position, the adsorption mechanism 31 extends and adsorbs and fixes itself onto the stator laminations between the two slot wedges. After adsorption and fixation, the rotor roller mechanism 12 descends, and the robot main cabin 1 rises. After rising, the slot-changing moving mechanism 22 then drives the middle frame 2, carrying the robot main cabin 1, to move together to the adjacent slot wedge. After moving into position, the robot main cabin 1 is lowered, the rotor roller mechanism 12 is raised, the adsorption mechanism 31 is removed and retracted, and finally, the slot-changing moving mechanism 22 drives the outer frame 3 to move and adjust it to be centered.

[0025] The placement rack 4 is used to place the testing device before testing. During testing, the testing device enters and exits the stator web space via the placement rack for testing. The control device is used to control the operation of the testing device.

[0026] Example 2 This embodiment further elaborates on Embodiment 1, such as... Figure 7 As shown, the walking mechanism 11 is a differentially driven dual-track electromagnetic adsorption walking mechanism, with the two tracks located on the stator laminations on the left and right sides of the slot wedge, respectively. In this embodiment, the dual tracks are configured to be differentially driven by attaching to the surface of the motor stator laminations, so as to enable the detection device to move forward within the air gap of the motor. The electromagnetic adsorption walking mechanism is adsorbed onto the stator laminations, and can be adsorbed or not adsorbed as needed. It is adsorbed during walking and detection, and the adsorption is broken when the robot's main compartment is lifted during slot changing.

[0027] like Figure 6 and 8 As shown, the rotor roller mechanism 12 includes a rotor roller 121, a roller lifting assembly, and a lifting drive. Several rolling elements 122 that contact the rotor surface are installed at the top of the rotor roller 121 along its length direction. The arrangement direction of the rolling elements 122 is consistent with the length direction of the slot wedge. Two sets of roller lifting assemblies are provided and are respectively arranged at the front and rear ends of the rotor roller 121. The top end of the roller lifting assembly is connected to the rotor roller 121, and the bottom end is connected to the robot main compartment 1. The lifting drive is connected to the roller lifting assembly and drives the roller lifting assembly to lift and lower, thereby driving the rotor roller 121 to pass through the middle frame 2 for lifting and lowering.

[0028] like Figure 8As shown, the roller lifting assembly includes a first roller link 123 and a second roller link 124 that are hinged to each other. The top end of the first roller link 123 is hinged to the rotor roller 121, and the bottom end is slidably mounted on the top of the robot main compartment 1. The top end of the second roller link 124 is slidably mounted on the rotor roller 121, and the bottom end is hinged to the top of the robot main compartment 1.

[0029] In this embodiment, the lifting drive can be a conventional linear motor, hydraulic cylinder or other linear reciprocating drive. One end of the drive is hinged to the robot main cabin 1, and the other lifting end is hinged to the first roller frame link 123 or the second roller frame link 124. The lifting drive drives the first roller frame link 123 and the second roller frame link 124 to rotate, thereby driving the rotor roller 121 on the first roller frame link 123 and the second roller frame link 124 to rise and fall.

[0030] During normal testing, the rotor roller frame 121 rises, and the rolling element 122 supports the rotor surface and can roll on it, providing sufficient radial adhesion for the testing device inside the motor, ensuring stable movement of the testing device and preventing it from accidentally falling out of the air gap. During slot changing, the rotor roller frame mechanism 12 rises, the rolling element 122 supports the rotor surface, and stabilizing the robot main compartment 1 also indirectly stabilizes the middle frame 2, so that the slot changing moving mechanism 22 on the middle frame 2 can drive the outer frame 3 to move relative to the middle frame 2 to perform the slot changing operation.

[0031] like Figure 7 As shown, the detection mechanism 13 includes a detection probe 131 and a laparoscope group 132 installed at the bottom of the robot main cabin 1. Both the detection probe 131 and the laparoscope group 132 are provided in two sets and arranged at the front and rear of the robot main cabin 1. The laparoscope group 132 takes a view of the stator slot wedge and the edge line of the stator lamination, thereby visually judging and guiding the differential fine adjustment of the dual tracks, so that the dual tracks are aligned and move forward along the edge line.

[0032] In this embodiment, the detection probe 131 is used to detect the internal condition of the groove wedge. When the detection device moves along the groove wedge, directional errors are inevitable. Therefore, the abdominal endoscope group 132, which is arranged at the front and rear of the abdomen of the detection device, takes pictures of the groove wedge and the edge line of the stacked pieces. In this way, visual judgment (to guide the differential fine adjustment of the dual tracks) ensures that the device always moves in the direction of the edge line and avoids the tracks deviating from the path and getting stuck in the groove wedge.

[0033] Example 3 This embodiment further elaborates on embodiment 2, such as... Figure 9 As shown, the main cabin lifting mechanism 21 consists of several lifting components installed at the bottom of the middle shelf 2. The lifting bottom end of each lifting component is connected to the top of the robot main cabin 1. The lifting components can be conventional linear motors, hydraulic cylinders, or other linear reciprocating drive components. The lifting output end at the bottom of each component is connected to the robot main cabin 1. The lifting components drive the robot main cabin 1 to move up and down, thereby facilitating the slot changing operation.

[0034] like Figure 9 As shown, the slot-changing moving mechanism 22 is located at both the front and rear ends of the middle shelf 2. The slot-changing moving mechanism 22 includes a drive gear 221, a clamping guide wheel 222, and a slot-changing driving component. The slot-changing driving component drives the drive gear 221 to rotate. Both the drive gear 221 and the clamping guide wheel 222 extend outward from the middle shelf 2. There are two clamping guide wheels 222, one on the left and one on the right. The slot-changing driving component can be a conventional motor, which drives the drive gear 221 to rotate to perform the slot-changing operation.

[0035] Example 4 This embodiment further elaborates on embodiment 3, such as... Figure 5 and 10 As shown, the outer frame 3 has an arc, and the front and rear top ends of the outer frame 3 are arc surfaces that are adapted to and roll in contact with the pressure guide wheel 222. The outer frame 3 is provided with an arc groove 32, and a rack that meshes with the drive gear 221 is provided in the arc groove 32.

[0036] In this embodiment, the outer frame 3 is an arc-shaped outer frame whose curvature matches the air gap of the motor. The pressure guide wheel 222 contacts and rolls on the arc surface of the outer frame 3, guiding the relative movement between the middle shelf 2 and the outer frame 3 to change slots. The drive gear 221 meshes with the rack, driving the relative movement between the middle shelf 2 and the outer frame 3.

[0037] The adsorption mechanism 31 is a retractable electromagnetic adsorption foot. When the electromagnetic adsorption foot is extended, it adsorbs and fixes itself onto the stator lamination between the two slot wedges. In this embodiment, retractable electromagnetic adsorption feet are arranged around the outer frame. When fixation is required, the electromagnetic feet are extended and the electromagnetic adsorption force is activated to stabilize the robot on the stator lamination.

[0038] Example 5 This embodiment further elaborates on embodiment 4, such as... Figure 11 As shown, the delivery rack 4 includes a support 41 and a delivery plate 42 on the top of the support 41. The top of the delivery plate 42 has a slot 43 along its length. A stopping structure space is formed on the delivery plate 42. The stopping structure space is aligned with the stator slot wedge to form a transition path. Before the detection device is detected, it is placed on the stopping structure space and enters and exits the stator web space through the transition path for detection.

[0039] In this embodiment, when the detection device enters or exits the air gap of the motor, it is assisted by a delivery rack arranged at the end of the motor. The stopping structure space (including slots, etc.) on the delivery rack is designed according to the opening structure at the end of the motor, and is aligned with the motor slot wedge to form a transition path, so that the robot can move in a straight line when entering or exiting the space under the motor.

[0040] Example 6 This embodiment further elaborates on Embodiment 5. In this embodiment, the hardware of the control device includes a control box and a mobile platform. The control box includes an industrial computer, a display device, and a power supply; the vehicle body includes an ARM embedded controller, a mobile motor driver, a detection tool driver, and a sensor interface.

[0041] 1) Mobile platform hardware circuit design The main functions of the mobile platform are implemented by an ARM control board. The control board receives commands and power from the control box. Through drivers, the control board controls the mobile platform's DC motors, receives position data from displacement sensors, and controls detection tools, etc.

[0042] Based on functional distinctions, the ARM control board is mainly implemented by two circuit boards: one circuit board implements power supply and drive, and the other circuit board is mainly for communication interface, data acquisition and control.

[0043] 2) Control box hardware circuit design The control box provides power to the entire system and acts as an interactive terminal for user interaction.

[0044] The control box system has an external AV 220V power interface; two buttons, one for robot power and one for controller power; and it communicates and connects to the mobile platform via an aviation connector.

[0045] The control box consists of three main parts: a switching power supply, a control board, and an industrial control system. The switching power supply converts AC220V to 12V DC and 24V DC. The industrial control system uses a motherboard to form an industrial control terminal. The control board performs power management, communication isolation, and power conversion functions. The principle of the control board is the same as that of the mobile platform hardware.

[0046] Control software system: The software system consists of two parts: embedded software and upper-layer software. The embedded software is responsible for controlling the position of the moving platform and fixture; the upper-layer software is responsible for human-computer interaction.

[0047] 1) Embedded software Embedded software comprises three layers: the driver layer, the control layer, and the communication layer. The detection platform driver module interfaces with the detection platform driver interface; the encoder acquisition module acquires data from the encoder hardware; and the sensor acquisition and processing module acquires and processes data from the sensors.

[0048] 2) Monitoring software The monitoring software primarily enables the monitoring of the entire equipment's operational status from the control box, and also controls the equipment's operation. It includes: 1. an information display area, displaying current equipment data; 2. a mobile platform control area, used for controlling the mobile platform; and 3. a detection tool control area, used for controlling the probes of relevant detection tools.

[0049] To better understand this invention, the working principle of this invention will be described in full below: 1. The detection device is placed on the delivery rack and rests at the end of the motor, aligned with the groove wedge on the motor's belly.

[0050] 2. Control the track of the detection device to move into the air gap of the motor belly. Then raise the rotor roller frame to press the detection device firmly against the inner wall of the rotor.

[0051] 3. Activate the detection device. The abdominal endoscope of the detection device observes the wedge path, visually judges and corrects the forward posture, and uses differential adjustment of the dual tracks to fine-tune the direction to ensure straight-line forward movement.

[0052] 4. Stop moving forward after reaching the other end of the motor. Adjust the offset angle of the outer frame of the detection device to align it with the next row of slot wedges. Then lower the electromagnetic suction feet of the outer frame and activate the electromagnetic attraction to ensure stability.

[0053] 5. Lower the rotor roller frame of the testing device, raise the main compartment of the testing device, slide the main compartment to the next set of slot wedges using the outer frame's arc-shaped track, and then lower the main compartment. Raise the rotor roller frame and stabilize the testing device again.

[0054] 6. Then, remove the electromagnetic suction force and retract the device, adjusting the outer frame offset angle to center it. A new slot wedge inspection can then proceed. (This process of performing full-coverage inspection of all slot wedges is repeated periodically.)

[0055] In this invention, the middle frame and outer frame are primarily responsible for enabling the robot to traverse between adjacent slot wedges. The sequence of actions is as follows: (After completing the inspection of one row of slot wedges) → Adjust the robot's outer frame offset angle to align the outer frame with the adjacent slot wedges → Extend the electromagnetic suction feet to activate magnetic adsorption → Lower the rotor roller frame → Raise the robot main cabin → The middle frame carries the robot main cabin along the arc-shaped slide rail to align with the adjacent slot wedges → Lower the robot main cabin onto the stator laminations → Raise the rotor roller frame to press the rotor → Remove the electromagnetic suction feet' adsorption force and retract them → Adjust the outer frame offset angle to center it → (Start the inspection of a new row of slot wedges).

[0056] The embodiments of the present invention have been described in detail above, but the present invention is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalents or substitutions are all included within the scope defined by the claims of the present invention.

Claims

1. A generator set rotor slot wedge inspection robot capable of automatic slot-changing inspection, characterized in that, include: The robot main compartment (1) is provided with a walking mechanism (11) for walking on the stator laminations at the bottom and a rotor roller mechanism (12) that can be raised and lowered and supports the rotor surface after being raised at the back. The robot main compartment (1) is also provided with a detection mechanism (13) for detecting the slot wedge. The rotor roller mechanism (12) includes a rotor roller (121), a roller lifting assembly and a lifting drive. The top of the rotor roller (121) is equipped with a number of rolling elements (122) that contact the rotor surface along its length direction. The arrangement direction of the rolling elements (122) is consistent with the length direction of the slot wedge. The roller lifting assembly is provided with two sets and is respectively arranged at the front and rear ends of the rotor roller (121). The top end of the roller lifting assembly is connected to the rotor roller (121) and the bottom end is connected to the robot main compartment (1). The lifting drive is connected to the roller lifting assembly and drives the roller lifting assembly to rise and fall, thereby driving the rotor roller (121) to pass through the middle frame (2) for rising and falling. The middle shelf (2) is located above the robot main cabin (1). The middle shelf (2) is equipped with a main cabin lifting mechanism (21) and a slot changing moving mechanism (22). The main cabin lifting mechanism (21) is connected to the robot main cabin (1) and drives the robot main cabin (1) to lift. The outer frame (3) is located outside the robot main cabin (1) and the middle shelf (2). The outer frame (3) is provided with a retractable adsorption mechanism (31). The outer frame (3) is connected to the slot changing moving mechanism (22). The slot changing moving mechanism (22) drives the middle shelf (2) and the outer frame (3) to move relative to each other to change slots. The adsorption mechanism (31) is a retractable electromagnetic adsorption foot. When the electromagnetic adsorption foot is extended, it adsorbs and fixes itself on the stator lamination between the two slot wedges. The delivery rack (4) is located on the outside of the stator end of the generator set. The robot main cabin (1), the middle frame (2) and the outer frame (3) are combined to form a detection device. The detection device is placed on the delivery rack (4) before detection and enters and exits the stator belly space through the delivery rack (4) during detection. The control device is electrically connected to the walking mechanism (11), rotor roller mechanism (12), detection mechanism (13), main cabin lifting mechanism (21), trough changing moving mechanism (22) and adsorption mechanism (31) to control their operation; When changing slots, follow these steps: After completing the inspection of one row of slot wedges → adjust the robot's outer frame offset angle to align the outer frame with the adjacent slot wedges → extend the electromagnetic force adsorption feet to activate magnetic adsorption → lower the rotor roller frame → raise the robot main cabin → slide the middle frame carrying the robot main cabin to align with the adjacent slot wedges → lower the robot main cabin onto the stator laminations → raise the rotor roller frame to press the rotor → release the electromagnetic force adsorption feet and retract them → adjust the outer frame offset angle to center it → start the inspection of a new row of slot wedges.

2. The slot wedge inspection robot as described in claim 1, characterized in that, The walking mechanism (11) is a differentially driven dual-track electromagnetic adsorption walking mechanism, with the dual tracks located on the stator laminations on the left and right sides of the slot wedge, respectively.

3. The slot wedge inspection robot as described in claim 1, characterized in that, The roller lifting assembly includes a first roller link (123) and a second roller link (124) that are hinged to each other. The top end of the first roller link (123) is hinged to the rotor roller (121), and the bottom end is slidably mounted on the top of the robot main cabin (1). The top end of the second roller link (124) is slidably mounted on the rotor roller (121), and the bottom end is hinged to the top of the robot main cabin (1).

4. The slot wedge inspection robot as described in claim 2, characterized in that, The detection mechanism (13) includes a detection probe (131) and a laparoscope group (132) installed at the bottom of the robot main cabin (1). The detection probe (131) and the laparoscope group (132) are provided in two sets and arranged in front and behind the robot main cabin (1). The laparoscope group (132) takes pictures of the stator slot wedge and the edge line of the stator lamination from above, so as to visually judge and guide the differential fine adjustment of the double track, so that the double track moves forward in the direction of the edge line.

5. The slot wedge inspection robot as described in claim 1, characterized in that, The main cabin lifting mechanism (21) consists of several lifting components installed at the bottom of the middle frame (2), and the lifting bottom end of the lifting component is connected to the top of the robot main cabin (1).

6. The slot wedge inspection robot as described in claim 1, characterized in that, The slot-changing moving mechanism (22) is located at both ends of the middle shelf (2). The slot-changing moving mechanism (22) includes a drive gear (221), a pressing guide wheel (222), and a slot-changing driving component. The slot-changing driving component drives the drive gear (221) to rotate. Both the drive gear (221) and the pressing guide wheel (222) extend outward from the middle shelf (2). There are two pressing guide wheels (222) on the left and right sides.

7. The slot wedge inspection robot as described in claim 6, characterized in that, The outer frame (3) has an arc, and the front and rear top ends of the outer frame (3) are arc surfaces that are adapted to and roll in contact with the pressing guide wheel (222). An arc groove (32) is provided on the outer frame (3), and a rack that meshes with the drive gear (221) is provided in the arc groove (32).

8. The slot wedge inspection robot as described in claim 1, characterized in that, The delivery rack (4) includes a support (41) and a delivery plate (42) on the top of the support (41). The top of the delivery plate (42) has a slot (43) along its length. A stopping structure space is formed on the delivery plate (42). The stopping structure space is aligned with the stator slot wedge to form a transition path. Before detection, the detection device is placed on the stopping structure space and enters and exits the stator web space through the transition path for detection.

Images