A hydraulic turbine sleeve extraction device and extraction method thereof

Abstract

The present invention relates to the technical field of power generation auxiliary equipment, and specifically to a turbine sleeve extraction device and extraction method thereof, wherein the turbine sleeve extraction device comprises a controller, a support seat, a grab hook, a lifting assembly controlled by the action of the controller, and a driving assembly controlled by the action of the controller; the lifting assembly is used to be connected to the top cover of the hydro-generator; the support seat is connected to the lifting assembly to move under the drive of the lifting assembly; at least three of the grab hooks are rotatably connected to the support seat, and the grab hook is used to hook the end of the sleeve from the groove between the sleeve and the top cover; the driving assembly is arranged on the support seat and cooperates with the grab hook transmission to drive the grab hook to rotate relative to the support seat. The present invention can extract the sleeve from the end of the sleeve, and the extraction process is highly safe.

Description

Technical Field

[0001] The present invention relates to the technical field of power generation auxiliary equipment, and in particular to a turbine sleeve extraction device and an extraction method thereof. Background Art

[0002] The sleeve of a hydro-turbine generator set is divided into an integrated structure and a split structure. For the removal of a split sleeve, the sleeve part is usually pulled out after the top cover of the hydro-turbine generator set is lifted out. Because the contact part between the outer wall of the sleeve and the shaft hole of the top cover is severely corroded, the pulling out work is extremely difficult, and the existing sleeve pulling out method generally sets a top screw in the middle of the sleeve, winds auxiliary materials such as steel wire or rope on the top screw, and uses the friction between the top screw and the sleeve wall to forcibly pull out the sleeve.

[0003] The disadvantages of this sleeve extraction method are:

[0004] 1. It is difficult to grasp the tightness when installing the top screw, which may cause the friction between the top screw and the sleeve wall to be insufficient, causing the top screw to slip off, and repeated installation operations will reduce efficiency;

[0005] 2. The overall device is too simple, and the unreasonable setting of auxiliary ropes and other equipment may cause the sleeve to be pulled out without a force fulcrum, resulting in repeated settings of the device and reduced efficiency;

[0006] 3. The extraction device and method are arbitrary, which may easily lead to safety risks such as wire breakage and top wire flying out and injuring people. Summary of the invention

[0007] The invention provides a turbine sleeve extraction device and extraction method thereof, which forms mechanical fit with the end of the sleeve and applies force in the axial direction of the sleeve to extract the sleeve, thereby avoiding injuries caused by slipping of the top screw in the existing sleeve extraction method.

[0008] The present invention is achieved through the following technical solutions:

[0009] In a first aspect, the present application provides a turbine sleeve extraction device, comprising:

[0010] Controller;

[0011] A lifting assembly controlled by the action of the controller, wherein the lifting assembly is used to be connected to the top cover of the hydro-generator;

[0012] A support seat, the support seat is connected to the lifting assembly to move under the drive of the lifting assembly;

[0013] A grab hook, at least three of which are rotatably connected to the support seat, and the grab hook is used to hook the end of the sleeve from the groove between the sleeve and the top cover;

[0014] A driving component controlled by the action of the controller is arranged on the support seat and cooperates with the grab hook transmission to drive the grab hook to rotate relative to the support seat.

[0015] In some optional embodiments, all of the grab hooks cooperate with the drive assembly to move simultaneously under the drive of the drive assembly.

[0016] In some optional embodiments, the drive assembly includes:

[0017] A first reciprocating mechanism, the first reciprocating mechanism having a first fixed end connected to the support seat and a first moving end matched with the first fixed end;

[0018] A supporting connecting rod, one end of which is rotatably connected to the grab hook, and the other end of which is rotatably connected to the first moving end;

[0019] Wherein, the length direction of the supporting connecting rod forms an angle with the length direction of the grab hook.

[0020] In some optional embodiments, the grab hook is connected to the support seat through a second reciprocating mechanism, the second reciprocating mechanism has a second fixed end connected to the support seat and a second movable end matched with the second fixed end, wherein the grab hook is rotatably connected to the second movable end; and

[0021] The supporting link is connected to the first moving end through a third reciprocating mechanism, and the third reciprocating mechanism has a third fixed end connected to the first moving end and a third moving end matched with the third fixed end, wherein the supporting link is rotationally connected to the third moving end.

[0022] In some optional embodiments, the second reciprocating mechanism is equipped with a force sensor to detect the force value of the second reciprocating mechanism in the moving direction of the first moving end.

[0023] In some optional embodiments, a contour sensor is disposed at the end of the first reciprocating mechanism to detect the contour of the sleeve end in the radial direction of the sleeve.

[0024] In a second aspect, the present application provides a method for extracting a turbine sleeve, comprising the following contents:

[0025] Obtain the diameter parameters of the sleeve and the position parameters of the groove between the sleeve and the top cover;

[0026] Controlling the lifting assembly according to the groove position parameter to drive the support seat to reach a first predetermined position;

[0027] Controlling the action of the driving assembly according to the diameter parameter to drive the grab hook to move into the groove;

[0028] Controlling the lifting assembly to move so that the grab hook hooks the end of the sleeve;

[0029] The lifting assembly is controlled to move so that the grab hook drives the sleeve to move in the axial direction of the sleeve.

[0030] In some optional embodiments, before controlling the lifting assembly to make the hook hook the end of the sleeve, the following steps are included:

[0031] Controlling the lifting assembly to move so as to drive the support seat to reach a second predetermined position;

[0032] Acquire the end profile of the sleeve close to the groove from the radial direction of the sleeve by a profile sensor;

[0033] constructing a base axis, wherein the base axis is parallel to the extension direction of the end profile;

[0034] Dividing the end contour into three equal parts along the extending direction into a first section, a second section and a third section;

[0035] Mark points (b1, c1, d1), (b2, c2, d2), (b3, c3, d3) ... (bn, cn, dn) at a step distance of amm on the first section, the second section and the third section along the extension direction;

[0036] Obtaining the maximum spacing difference between each group of marking points and the base axis and obtaining the adjustment spacing difference between each marking point in the group;

[0037] Extracting a marking point corresponding to a minimum value of the maximum spacing difference and obtaining a contour sensor detection angle corresponding to the marking point;

[0038] Controlling the support seat to rotate so that the grab hook corresponds to the position of the end portion of the sleeve corresponding to the detection angle;

[0039] The grab hooks are controlled to move in the axial direction of the sleeve so that the height difference between the grab hooks corresponds to the adjustment spacing difference.

[0040] In some optional embodiments, the process of controlling the lifting assembly to cause the catch to hook the end of the sleeve includes the following steps:

[0041] Set the regulation threshold;

[0042] Obtaining in real time the bearing value of each grab hook in the axial direction of the sleeve;

[0043] When the difference in the bearing force between any two of the grab hooks in the axial direction of the sleeve is greater than the adjustment threshold;

[0044] The action of the grab hook corresponding to the smaller bearing value is controlled so that the bearing difference between any two of the grab hooks in the axial direction of the sleeve is within the range of the adjustment threshold.

[0045] In some optional embodiments, when the vibration value of the force sensor exceeds the adjustment threshold, the controller controls the lifting assembly to standby for 1 to 2 seconds. If the force value difference fed back by the force sensor does not exceed the adjustment threshold, the controller controls the lifting assembly to move. Otherwise, the controller controls the second reciprocating mechanism and the third reciprocating mechanism to drive the grab hook to move in the axial direction of the sleeve so that the force value difference fed back by each force sensor is within the adjustment threshold range.

[0046] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0047] The present invention provides a turbine sleeve extraction device and extraction method thereof, wherein the action of the grab hook is actively controlled by a controller, and the grab hook can be retracted when entering the sleeve, so that the grab hook and the sleeve will not contact each other, thereby preventing the grab hook and the inner wall of the sleeve from wearing each other; when the grab hook is driven to the end position of the sleeve, it can be opened under the control of the controller so that the grab hook is located in a groove between the sleeve and the top cover, and then the lifting component is controlled by the controller to make the grab hook apply force to the sleeve from the end of the sleeve along the axial direction of the sleeve, thereby realizing the extraction of the sleeve; when the grab hook hooks the end of the sleeve, pressure is applied to the end of the sleeve through mechanical contact, and the state of the grab hook and the sleeve during the extraction process is relatively stable, and it is not easy for components to fly out and cause injuries to people. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 A schematic diagram of the shaft side structure of a turbine sleeve extraction device provided by an embodiment of the present invention;

[0050] Figure 2 A schematic diagram of the structure of a hydraulic turbine sleeve extraction device after the grab hook is opened provided by an embodiment of the present invention;

[0051] Figure 3 A schematic diagram of the front view of the structure of a hydraulic turbine sleeve extraction device provided by an embodiment of the present invention;

[0052] Figure 4 An auxiliary reference schematic diagram of a turbine sleeve extraction method provided in an embodiment of the present invention.

[0053] Marks and corresponding parts names in the attached drawings:

[0054] 1-support seat, 2-grab hook, 3-first reciprocating mechanism, 4-support connecting rod, 5-second reciprocating mechanism, 6-third reciprocating mechanism, 7-contour sensor. DETAILED DESCRIPTION

[0055] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0056] In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present invention. However, it is apparent to one of ordinary skill in the art that these specific details are not necessarily employed to practice the present invention. In other embodiments, in order to avoid obscuring the present invention, well-known structures, circuits, materials, or methods are not specifically described.

[0057] Throughout the specification, references to "one embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment of the present invention. Therefore, the phrases "one embodiment," "an embodiment," "an example," or "an example" appearing in various places throughout the specification do not necessarily all refer to the same embodiment or example. In addition, particular features, structures, or characteristics may be combined in one or more embodiments or examples in any suitable combination and / or sub-combination. In addition, it will be appreciated by those of ordinary skill in the art that the figures provided herein are for illustrative purposes and that the figures are not necessarily drawn to scale. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0058] In the description of the present invention, the directions or positional relationships indicated by terms such as “front”, “rear”, “left”, “right”, “up”, “down”, “vertical”, “horizontal”, “high”, “low”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the scope of protection of the present invention.

[0059] In a hydroelectric generator set, after the sleeve and the top cover are assembled, the end of one end of the sleeve is flush with the top cover, while the other end is located inside the sleeve. In the past, when disassembling the sleeve, usually only a force parallel to the axial direction of the sleeve can be applied to the inner wall of the sleeve, that is, the top screw is pressed against the inner wall of the sleeve, and the friction force generated by the top screw and the inner wall of the sleeve is used as the extraction force. The magnitude of the friction force depends on the pressure and the friction coefficient. Therefore, during the extraction process, the axial force borne by the top screw is very large, and the sleeve and the top cover are quite tight, and the tensile force borne by the top screw in the axial direction of the sleeve is also very large. After the top screw and the inner wall of the sleeve slip off, the top screw will fly out with a great acceleration, which is very likely to cause safety accidents. At the same time, the bending moment borne by the top screw during the extraction process is very large, and the top screw is also easy to break. The inventor disassembled and studied the structure of the hydro-generator set and found that after the sleeve and the top cover were assembled, a certain gap was left between the end of the sleeve located inside the top cover and the top cover to form a groove, that is, the end face of this end was exposed. If the extraction tool could be mechanically matched with the end face of this end to directly extract the sleeve through contact pressure, the operation safety could be greatly guaranteed. Therefore:

[0060] First, see Figure 1 to Figure 3 An embodiment of the present application provides a turbine sleeve extraction device, which includes a controller, a lifting assembly (not shown in the figure), a support seat 1, a grab hook 2 and a driving assembly.

[0061] The controller is used to control the actions of the electronic control devices in the entire device. The controller can be a PLC, a single-chip microcomputer, an industrial microcomputer, etc.

[0062] The lifting assembly is connected to the controller to move under the control of the controller. The lifting assembly can be configured as an electric lifting rod, a cylinder, a hydraulic cylinder, a screw slider mechanism, a cam mechanism, etc., wherein the screw slider mechanism and the cam mechanism have their own motors, and the controller controls the direction of the motor to achieve the rise and fall of the lifting assembly. The lifting assembly can be used to connect to the top cover of the hydro-generator to keep itself relatively fixed with the top cover. Of course, the lifting assembly can also be connected to other fixed platforms, and it is only necessary to keep the top cover relatively fixed with the fixed platform. For example, the top cover can be fixedly connected to the fixed platform together with the lifting assembly.

[0063] The support seat 1 is connected to the moving end of the lifting assembly to move under the drive of the lifting assembly. The specific shape and structure of the support seat 1 may not be limited as long as it can meet the conditions for entering the sleeve.

[0064] The number of the grab hooks 2 is at least three, and the grab hooks 2 are evenly arranged along the circumferential direction, so that when the support seat 1 enters the sleeve, the grab hooks 2 can also be evenly distributed in the circumferential direction of the sleeve, that is, after the grab hooks 2 contact the end of the sleeve, the contact points of the two are evenly distributed in the circumferential direction of the sleeve, so that the end of the sleeve can be uniformly stressed, and the contact pressure borne by the entire sleeve can be along the axial direction of the sleeve, so as to avoid the sleeve from being deflected and stuck in the top cover during the extraction process. One end of each grab hook 2 is rotatably connected to the support seat 1, so that each grab hook 2 can swing around the support seat 1, and when all the grab hooks 2 swing at the same time, an opening and closing action can be formed; the other end of the grab hook 2 is hook-shaped, and when the grab hook 2 swings around the support seat 1, this end can enter the groove between the sleeve and the top cover, and driven by the lifting assembly, the hook-shaped structure of this end can form a mechanical contact with the end of the sleeve.

[0065] The driving component is connected to the controller to operate under the control of the controller. The driving component is disposed on the support base 1 and cooperates with the grab hook 2 to drive the grab hook 2 to rotate relative to the support base 1 .

[0066] During use, first, the controller is used to control the driving assembly to drive the grab hook 2 to rotate around the support seat 1 and be in a retracted state, and then the controller is used to control the lifting assembly to drive the grab hook 2 to move in the axial direction of the sleeve. When the grab hook 2 reaches the preset position in the sleeve, the controller is used to control the driving assembly to drive the grab hook 2 to rotate around the support seat 1 and be in an open state. After the rotation angle of the grab hook 2 reaches the preset value, that is, the hook-shaped structure at the end of the grab hook 2 corresponds to the end surface position of the sleeve, finally, the controller is used to control the lifting assembly to drive the grab hook 2 to move in the axial direction of the sleeve so that the hook-shaped structure at the end of the grab hook 2 conflicts with the end surface of the sleeve and the lifting assembly continues to drive the grab hook 2 to move in the axial direction of the sleeve to realize the sleeve extraction operation.

[0067] For sleeves of different specifications, the space inside the sleeve is limited. If each grab hook 2 is equipped with a drive assembly, the space occupied by the entire device will be too large, which may make the device unsuitable for use in a sleeve environment with smaller specifications. Therefore, in some optional embodiments, all grab hooks 2 cooperate with the drive assembly to move simultaneously under the drive assembly. In other words, all grab hooks 2 are driven by the same drive assembly. This arrangement can not only reduce the overall space occupied by the device to a certain extent, but also reduce the number of drive assemblies, reduce the structural weight below the support seat 1, and reduce the load of the lifting assembly. At the same time, the reduction in the number of drive assemblies can also reduce the manufacturing cost of the device. In addition, all grab hooks 2 can move at the same time, which can also reduce the difference in the rotation angle between each grab hook 2 to a certain extent.

[0068] In actual implementation, the driving assembly may include a first reciprocating mechanism 3 and a supporting connecting rod 4; the first reciprocating mechanism 3 has a first fixed end connected to the supporting seat 1 and a first moving end matched with the first fixed end. Specifically, the first reciprocating mechanism 3 can be configured as a screw slider mechanism, wherein the screw serves as the first fixed end, one axial end of which moves through the supporting seat 1 and rotates with the supporting seat 1 through a bearing so that the screw can rotate around its own axis, and the slider serves as the first moving end, which cooperates with the screw thread; one end of the supporting connecting rod 4 rotates with the grab hook 2 Dynamic connection, specifically, one end of the support link 4 can be connected to the middle part of the length direction of the grab hook 2 to ensure that the grab hook 2 has a smaller deformation as much as possible during the process of supporting the grab hook 2, and the other end is rotationally connected to the first moving end, that is, a connecting rod mechanism is formed between the grab hook 2, the support link 4 and the first moving end; wherein, the length direction of the support link 4 forms an angle with the length direction of the grab hook 2, so that when the first moving end moves along the axial direction of the first fixed end, the support link 4 can drive the grab hook 2 to rotate on the support seat 1, thereby realizing the opening or closing of the grab hook 2.

[0069] In the embodiment of the present application, after the first reciprocating mechanism 3 is configured as a screw slider mechanism, when the screw is not rotating, it limits the slider, that is, the axial position of the slider in the screw is basically fixed, and the grab hook 2 is effectively supported by being connected to the middle part of the length direction of the grab hook 2 through the support link 4; the connection point between the support link 4 and the grab hook 2 forms a new fulcrum, so that when the grab hook 2 applies force to the end face of the sleeve, the force arm of the reaction force applied by the sleeve to the grab hook 2 is smaller, and the grab hook 2 is less likely to deform.

[0070] The end surface of the sleeve may be uneven due to the accumulation of impurities during use, or the end surface of the sleeve itself may be uneven due to manufacturing accuracy. This may cause the grab hook 2 to move axially toward the sleeve after opening and being driven by the lifting assembly. All the grab hooks 2 will not contact the end surface of the sleeve at the same time, which means that in the process of pulling out the sleeve, only some of the grab hooks 2 may apply force to the end surface of the sleeve. On the one hand, it may cause some of the grab hooks 2 to deform due to excessive force, which will increase the maintenance process. On the other hand, the end of the sleeve is unevenly stressed, and the combined force applied by some of the grab hooks 2 to the end surface of the sleeve will deviate from the axis of the sleeve, causing the sleeve and the top cover to get stuck, which will affect the subsequent sleeve extraction operation. At the same time, the upgrading component will also be in an overloaded working state. If it is not discovered in time, it may cause the lifting component to fail. Therefore, in some optional embodiments, the grab hook 2 is connected to the support seat 1 through a second reciprocating mechanism 5. The second reciprocating mechanism 5 has a second fixed end connected to the support seat 1 and a second moving end matched with the second fixed end, wherein the grab hook 2 and the second moving end Rotational connection, specifically, the second reciprocating mechanism 5 can also be configured as a screw slider mechanism to ensure better transmission accuracy, the support seat 1 can be formed with a first fixed plate and a second fixed plate arranged in parallel and spaced apart on the plate surface, the screw serves as the second fixed end, and its two ends respectively move through the first fixed plate and the second fixed plate and are respectively rotatably connected to the first fixed plate and the second fixed plate through bearings, the slider serves as the second moving end and is threadedly engaged with the screw; and the support link 4 is connected to the first moving end through a third reciprocating mechanism 6, the third reciprocating mechanism 6 has a third fixed end connected to the first moving end and a third moving end engaged with the third fixed end, wherein the support link 4 is rotatably connected to the third moving end, specifically, the third reciprocating mechanism 6 can also be configured as a screw slider mechanism so that the third reciprocating mechanism 6 and the second reciprocating mechanism 5 maintain basically the same motion accuracy, a groove can be constructed on the second moving end, the screw serves as the third fixed end, and its two ends respectively moveably pass through the second moving end along the length direction of the groove and are rotatably engaged with the second moving end through bearings, the slider serves as the third moving end and is threadedly engaged with the third fixed end.

[0071] During use, when the grab hook 2 is driven to move to the specified position of the sleeve for the first time, the second reciprocating mechanism 5 and the third reciprocating mechanism 6 corresponding to the single grab hook 2 are controlled in sequence by the controller, and the second reciprocating mechanism 5 and the third reciprocating mechanism 6 are operated simultaneously to drive the grab hook 2 and the supporting connecting rod 4 to move in a direction parallel to the axis of the sleeve so that the grab hook 2 contacts the end surface of the sleeve. After all the grab hooks 2 are driven to contact the end surface of the sleeve by their respective second reciprocating mechanisms 5 and third reciprocating mechanisms 6, all the grab hooks 2 are driven to move in the axial direction of the sleeve by the lifting assembly to realize the sleeve pulling out operation.

[0072] As mentioned above, the unevenness of the sleeve end surface may be caused by the accumulation of impurities. The impurity density of each hook 2 in contact with the sleeve end surface may be different. Although each hook 2 can be driven to contact the sleeve end surface at the same time by the second reciprocating mechanism 5 and the third reciprocating mechanism 6 before the extraction operation, it is not certain whether the reaction force from the sleeve end surface to each hook 2 is consistent. This may lead to the following problem: the force of the second reciprocating mechanism 5 and the third reciprocating mechanism 6 acting on the hook 2 at the same time can make the hook 2 compress the impurities, but the impurity density of each part is different, and the compression degree is different. Then, during the extraction operation of the sleeve, the forces on each hook 2 will be different, that is, the forces on the sleeve end surface of each hook 2 are different, and the directions of the forces on the sleeve by all hooks 2 will be deflected, and the sleeve may be stuck. Therefore, in some optional embodiments, the second reciprocating mechanism 5 is equipped with a force sensor (not shown in the figure) to detect the force value of the second reciprocating mechanism 5 in the movement direction of the first movement end. The force sensor can be set to feedback the force of the second reciprocating mechanism 5 in the direction of movement of the first moving end to the controller. When the second reciprocating mechanism 5 and the third reciprocating mechanism 6 drive the grabber 2 to move, if the feedback values ​​of the left and right force sensors are the same, it is considered that the grabber 2 is in full contact with the end face of the sleeve. The force sensor can also be used as a monitoring end during the sleeve extraction operation, that is, to detect the magnitude and direction of the force applied by each grabber 2 to the end face of the sleeve in real time. That is, if the force values ​​fed back by each force sensor are different during the sleeve extraction process, it is considered that the direction of the combined force of each grabber 2 on the sleeve has changed, which may be caused by the different compression degrees of the impurities when the grabber 2 and the sleeve first contact. The controller controls the lifting assembly to stop the action, and drives the grabber 2 to re-compress the impurities through the second reciprocating mechanism 5 and the third reciprocating mechanism 6 to make the values ​​of each force sensor consistent to complete the correction.

[0073] Regardless of whether the unevenness of the sleeve end face is caused by the accumulation of impurities or by the processing error during the processing, we hope that the spacing between each contact point in the axial direction of the sleeve is smaller during the initial contact between the grab hook 2 and the sleeve end face, so that the action process of the second reciprocating mechanism 5 and the third reciprocating mechanism 6 can be reduced, the system cumulative error is smaller, and the positions of each contact point in the axial direction of the sleeve are closer, and the postures of each grab hook 2 after contacting the sleeve end face are basically consistent, and the force is more stable. Therefore, in some optional embodiments, a contour sensor 7 is configured at the end of the first reciprocating mechanism 3 to detect the contour of the sleeve end in the radial direction of the sleeve. By detecting the contour of the sleeve end in the radial direction of the sleeve, the spacing between each point / position / location on the sleeve end face in the axial direction of the sleeve can be obtained. After the contour sensor 7 feeds back the detection result to the controller, the controller can analyze and determine which three points located at the three-divided position have the smallest spacing in the axial direction of the sleeve according to the detection result.

[0074] In a second aspect, an embodiment of the present application provides a method for extracting a turbine sleeve, comprising the following contents:

[0075] S1. Obtain the diameter parameters of the sleeve and the position parameters of the groove between the sleeve and the top cover.

[0076] In the embodiment of the present application, after obtaining the diameter parameter of the sleeve, the axial position of the sleeve is determined more accurately, so that the lifting direction of the lifting assembly can basically coincide with the axial direction of the sleeve, and then it can be ensured that all the grab hooks 2 correspond to the end surface position of the sleeve after the grab hooks 2 are opened. The position parameter of the groove between the sleeve and the top cover is used as the motion parameter when the lifting assembly drives the grab hook 2 to move, that is, the position of the grab hook 2 when it first enters the sleeve is determined according to the position of the groove between the sleeve and the top cover.

[0077] S2. Control the lifting assembly according to the groove position parameters to drive the support base 1 to reach a first predetermined position.

[0078] When the support seat 1 reaches the first predetermined position, the grab hook 2 is in a position corresponding to the end face of the sleeve, that is, after the grab hook 2 is opened, the hook structure at the end of the grab hook 2 corresponds to the end face position of the sleeve in the axial direction parallel to the sleeve.

[0079] S3. Control the action of the driving assembly according to the diameter parameter to drive the grab hook 2 to move into the groove.

[0080] The diameter parameter is not only a reference for the installation position of the lifting assembly, but also a reference for the degree of opening of the hook 2. The axial distance between the hook structure at the end of the hook 2 and the sleeve is fixed, and when the axial distance between the hook structure at the end of the hook 2 and the sleeve is equal to the radius of the sleeve, it is considered that the degree of opening of the hook 2 is in place.

[0081] S4, controlling the lifting assembly to move so that the grab hook 2 hooks the end of the sleeve.

[0082] After the controller controls the lifting component to move, the support seat 1 can drive the grab hook 2 to move in the axial direction of the sleeve. However, since the end surface of the sleeve may be uneven, and after the grab hook 2 is opened, all the hook-like structures are in the same horizontal plane, if the grab hook 2 is driven directly by the lifting component to make the grab hook 2 hook the end of the sleeve, it cannot be guaranteed that all the grab hooks 2 form effective contact with the end surface of the sleeve. If some of the grab hooks 2 are located on the end surface of the sleeve to form effective contact, the sleeve will be unevenly stressed, and then the direction of the combined force from the grab hook 2 on the sleeve will not be along the axial direction of the sleeve, and the sleeve may be stuck on the top cover. Therefore, before controlling the lifting component to move so that the grab hook 2 hooks the end of the sleeve, each grab hook 2 can be independently moved to make it contact with the end surface of the sleeve respectively, which may include the following contents:

[0083] S401, controlling the lifting assembly to drive the support base 1 to reach a second predetermined position.

[0084] After the support seat 1 reaches the second predetermined position, the distance between the grab hook 2 and the end face of the sleeve is smaller than that of the first predetermined position. Therefore, the required movement stroke of the grab hook 2 is smaller. For example, based on the above, a single grab hook 2 can be driven by the second reciprocating mechanism 5 and the third reciprocating mechanism 6 to move in the axial direction parallel to the sleeve. When the required movement stroke of the grab hook 2 is smaller, the required specifications of the second reciprocating mechanism 5 and the third reciprocating mechanism 6 are smaller, the space occupied is smaller, and the cost is also reduced.

[0085] S402 , obtaining the end contour of the sleeve close to the groove from the radial direction of the sleeve through the contour sensor 7 .

[0086] During contour detection, for example, as mentioned above, when the first reciprocating mechanism 3 in the driving assembly is configured as a screw slider mechanism, the contour sensor 7 can be connected to the end of the screw, and the screw is rotated to drive the contour sensor 7 to rotate, thereby realizing the end contour detection of the sleeve.

[0087] S403: construct a base axis, wherein the base axis is parallel to an extension direction of the end contour.

[0088] The extension direction of the end profile at this location can be defined as the direction expressed after the sleeve is circumferentially unfolded, that is, the extension direction is parallel to the plane where the circumference of the sleeve is located.

[0089] S404, dividing the end contour into three equal parts along the extension direction into a first section, a second section and a third section.

[0090] See also Figure 4 In the embodiment of the present application, the number of the grab hooks 2 is set to three as an example. The number of the grab hooks 2 is three and they are evenly distributed in the circumferential direction. The contact points of the three grab hooks 2 after contacting the end surface of the sleeve are respectively located in the first section, the second section and the third section.

[0091] It can be understood that the end contour is substantially closed, that is, the starting point and the end point of the end contour curve fed back by the contour sensor 7 are substantially the same point, so the starting point of the first section can be any position.

[0092] S405. Make marking points (b1, c1, d1), (b2, c2, d2), (b3, c3, d3) ... (bn, cn, dn) on the first section, the second section and the third section respectively with a step distance of amm along the extension direction.

[0093] See also Figure 4, in the direction of the base axis, each mark point in each group of marks has the same distance from the starting point of the corresponding segment. That is, the distance between b1 and the starting point of the first end, the distance between c1 and the starting point of the second segment, and the distance between d1 and the starting point of the third segment are all amm; the distance between b2 and the starting point of the first end, the distance between c2 and the starting point of the second segment, and the distance between d2 and the starting point of the third segment are all 2amm, and so on.

[0094] S406: Obtain the maximum spacing difference between each group of marking points and the base axis and obtain the adjustment spacing difference between each marking point in the group.

[0095] Taking (b1, c1, d1) as an example, the distances between the marking points b1, c1, d1 and the base axis can be recorded as lb1, lc1, ld1 respectively, and the difference between the maximum and minimum values ​​of the three distances is the maximum distance difference. The adjustment distance difference is the absolute value of the difference between every two of the three distances.

[0096] S407 , extract the marking point corresponding to the minimum value in the maximum spacing difference and obtain the detection angle of the contour sensor 7 corresponding to the marking point.

[0097] The positions of the three marking points corresponding to the minimum values ​​of the maximum spacing differences on the sleeve end surface are relatively closest to the horizontal plane.

[0098] S408, controlling the support base 1 to rotate so that the grab hook 2 is aligned with the end portion of the sleeve corresponding to the detection angle.

[0099] The rotation of the support base 1 can be driven by a lifting assembly, and the rotation of the lifting assembly can be adjusted manually. A rotating assembly can also be set on the top cover to drive the lifting assembly to rotate, and the rotating assembly is controlled by a controller to determine its own rotation angle.

[0100] S409, controlling the grab hooks 2 to move in the axial direction of the sleeve so that the height difference between the grab hooks 2 corresponds to the adjustment spacing difference.

[0101] The controller can control the first reciprocating mechanism 3 and the second reciprocating mechanism 5 to drive the grab hooks 2 to move so that each grab hook 2 contacts the end surface of the sleeve, and then accurately adjust the position of the grab hook 2 according to the feedback value of the force sensor. Through the cooperation of the contour sensor 7 and the force sensor, the grab hook 2 can quickly and effectively contact the end surface of the sleeve before the sleeve is pulled out, thereby improving the overall sleeve pulling efficiency.

[0102] S410, controlling the lifting assembly to move so that the grab hook 2 drives the sleeve to move in the axial direction of the sleeve.

[0103] During the process of pulling out the sleeve, the debris accumulated on the sleeve end face as mentioned above may be compressed to different degrees, causing the pull-out force of the hook 2 to be deflected. At this time, the direction of the pull-out force can be adjusted by monitoring the force sensor. However, the sleeve does not move at a uniform speed during the process of being pulled out, and there may be a lot of rust and other debris between the sleeve and the top cover. In this case, the feedback value of the force sensor is jumping during the pull-out process. At this time, there is a phenomenon that the pull-out force direction is consistent but there is a difference between the force sensors. In order to avoid unnecessary correction of the hook 2 after this phenomenon occurs, in some optional embodiments, the process of controlling the action of the lifting component to make the hook 2 hook the end of the sleeve includes the following:

[0104] S411, setting an adjustment threshold;

[0105] S412, obtaining the bearing force value of each grab hook 2 in the axial direction of the sleeve in real time;

[0106] S413, when the bearing force difference between any two grab hooks 2 in the axial direction of the sleeve is greater than the adjustment threshold;

[0107] S414, controlling the action of the grab hook 2 corresponding to the smaller bearing value so that the bearing difference between any two grab hooks 2 in the axial direction of the sleeve is within the range of the adjustment threshold.

[0108] That is, when the difference between the force sensors is within a certain range, it can be considered that the direction of the combined force of pulling out the grab hook 2 is not deflected, and the lifting assembly can continue to pull out the sleeve to ensure the pulling-out efficiency of the sleeve.

[0109] In some optional embodiments, the distribution of debris between the sleeve and the top cover is usually uneven. During the extraction process, the jitter value of a single force sensor may roughly cause the difference between the force sensors to exceed the adjustment threshold, but in fact the direction of the combined force of the extraction of the grab hook 2 is not deflected, which will also cause the device to perform an unnecessary correction process for the grab hook 2. In order to avoid this problem, when the jitter value of the force sensor exceeds the adjustment threshold, the controller controls the lifting assembly to standby for 1 to 2 seconds. If the force value difference fed back by the force sensor does not exceed the adjustment threshold, the controller controls the lifting assembly to move. Otherwise, the controller controls the second reciprocating mechanism 5 and the third reciprocating mechanism 6 to drive the grab hook 2 to move in the axial direction of the sleeve so that the force value difference fed back by each force sensor is within the adjustment threshold.

[0110] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A turbine sleeve extraction device, characterized in that: include: Controller; A lifting assembly controlled by the action of the controller, wherein the lifting assembly is used to be connected to the top cover of the hydro-generator; A support seat (1), the support seat (1) being connected to the lifting assembly so as to move under the drive of the lifting assembly; A grab hook (2), at least three of the grab hooks (2) are rotatably connected to the support seat (1), and the grab hook (2) is used to hook the end of the sleeve from the groove between the sleeve and the top cover; a driving component controlled by the action of the controller, the driving component being arranged on the support seat (1) and cooperating with the grab hook (2) to drive the grab hook (2) to rotate relative to the support seat (1); Wherein, the driving component comprises: A first reciprocating mechanism (3), the first reciprocating mechanism (3) comprising a first fixed end connected to the support seat (1) and a first moving end cooperating with the first fixed end; a supporting connecting rod (4), one end of the supporting connecting rod (4) being rotatably connected to the grab hook (2), and the other end of the supporting connecting rod (4) being rotatably connected to the first moving end; Wherein, the length direction of the supporting connecting rod (4) forms an angle with the length direction of the grab hook (2); The grab hook (2) is connected to the support seat (1) via a second reciprocating mechanism (5), the second reciprocating mechanism (5) having a second fixed end connected to the support seat (1) and a second movable end cooperating with the second fixed end, wherein the grab hook (2) is rotatably connected to the second movable end; and The supporting connecting rod (4) is connected to the first moving end via a third reciprocating mechanism (6), the third reciprocating mechanism (6) having a third fixed end connected to the first moving end and a third moving end cooperating with the third fixed end, wherein the supporting connecting rod (4) is rotatably connected to the third moving end.

2. The turbine sleeve extraction device according to claim 1, characterized in that: All of the grab hooks (2) cooperate with the drive assembly to move simultaneously under the drive of the drive assembly.

3. The turbine sleeve extraction device according to claim 1, characterized in that: The second reciprocating mechanism (5) is equipped with a force sensor to detect the force value of the second reciprocating mechanism (5) in the moving direction of the first moving end.

4. The turbine sleeve extraction device according to claim 1, characterized in that: The end of the first reciprocating mechanism (3) is provided with a contour sensor (7) for detecting the contour of the sleeve end in the radial direction of the sleeve.

5. A method for extracting a turbine sleeve, implemented based on the turbine sleeve extraction device according to any one of claims 1 to 4, characterized in that: Includes the following: Obtain the diameter parameters of the sleeve and the position parameters of the groove between the sleeve and the top cover; Controlling the lifting assembly according to the groove position parameters to drive the support seat (1) to reach a first predetermined position; Controlling the action of the driving component according to the diameter parameter to drive the grab hook (2) to move into the groove; Controlling the movement of the lifting assembly so that the grab hook (2) hooks onto the end of the sleeve; The lifting assembly is controlled to move so that the grab hook (2) drives the sleeve to move in the axial direction of the sleeve.

6. The method for extracting a turbine sleeve according to claim 5, characterized in that: Before controlling the lifting assembly to move so that the catch (2) hooks the end of the sleeve, the following steps are included: Controlling the movement of the lifting assembly to drive the support seat (1) to reach a second predetermined position; Acquiring the end profile of the sleeve close to the groove from the radial direction of the sleeve by means of a profile sensor (7); constructing a base axis, wherein the base axis is parallel to the extension direction of the end profile; Dividing the end contour into three equal parts along the extending direction into a first section, a second section and a third section; Mark points (b1, c1, d1), (b2, c2, d2), (b3, c3, d3) ... (bn, cn, dn) at a step distance of amm on the first section, the second section and the third section along the extension direction; Obtaining the maximum spacing difference between each group of marking points and the base axis and obtaining the adjustment spacing difference between each marking point in the group; Extracting a marking point corresponding to the minimum value of the maximum spacing difference and obtaining a detection angle of a contour sensor (7) corresponding to the marking point; Controlling the support seat (1) to rotate so that the grab hook (2) corresponds to the position of the end portion of the sleeve corresponding to the detection angle; The grab hooks (2) are controlled to move in the axial direction of the sleeve so that the height difference between the grab hooks (2) corresponds to the adjustment spacing difference.

7. The method for extracting a turbine sleeve according to claim 5, characterized in that: The process of controlling the movement of the lifting assembly so that the catch (2) hooks the end of the sleeve includes the following: Set the regulation threshold; Acquiring in real time the load-bearing value of each grab hook (2) in the axial direction of the sleeve; When the difference in the bearing force between any two of the grab hooks (2) in the axial direction of the sleeve is greater than the adjustment threshold; The action of the grab hook (2) corresponding to the smaller bearing value is controlled so that the bearing difference between any two of the grab hooks (2) in the axial direction of the sleeve is within the range of the adjustment threshold.

8. The method for extracting a turbine sleeve according to claim 7, characterized in that: When the vibration value of the force sensor exceeds the adjustment threshold, the controller controls the lifting assembly to standby for 1 to 2 seconds. If the force value difference fed back by the force sensor does not exceed the adjustment threshold, the controller controls the lifting assembly to move. Otherwise, the controller controls the second reciprocating mechanism (5) and the third reciprocating mechanism (6) to drive the grab hook (2) to move in the axial direction of the sleeve so that the force value difference fed back by each force sensor is within the adjustment threshold.

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