A generator set stator-rotor narrow-gap inspection operation robot and a method of using the same

Abstract

The application discloses a generator set stator and rotor narrow-gap inspection operation robot and a use method thereof, and belongs to the technical field of generator set stator and rotor narrow-gap inspection operation robots. The robot comprises a frame, a power transmission device, a walking device, a knocking operation device and a sound collecting device which are arranged on the frame. The power transmission device provides power support for the robot. The walking device is used for driving the robot to perform inchworm movement in the narrow gap of the generator set stator and rotor. The knocking operation device is used for knocking the stator slot wedge. The sound collecting device is used for collecting sound information generated by the knocking vibration of the knocking operation device, so that the tightness detection of the stator slot wedge is realized.

Description

TECHNICAL FIELD

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

[0002] Large hydro-generator is a key operating mechanism in the process of hydroelectric power generation, the stator is a main component of the generator, and the iron core and winding are key components for the generator to generate a magnetic field and operate normally, wherein the iron core includes slot wedge, corrugated plate, gasket and wire rod, and the looseness detection of the stator slot wedge is the core to ensure the long-term stable operation of the generator. For large hydro-generators, the generator factory often uses slot wedge and gasket or slot wedge, gasket and corrugated plate combined structure to reinforce the stator wire rod. However, with the long-term operation of the generator, the electromagnetic force of the wire rod continuously acts, causing the deformation amount of the gasket or corrugated plate to gradually decrease, and then causing the slot wedge to loosen or fall off, which produces a major safety hazard. Therefore, it is necessary to detect and maintain the looseness of the slot wedge of the generator during the maintenance plan to ensure the normal and safe operation of the generator. The traditional detection technology is carried out in the state of lifting out the generator rotor, which has problems of long detection time period, high labor cost and easy damage to equipment. However, under the condition that the large hydro-generator is not lifted out, the stator slot wedge tightness detection project cannot be carried out due to the narrow gap between the stator and the rotor and other factors. Therefore, there is an urgent need for a generator unit stator and rotor internal inspection and processing operation device, which can realize non-destructive detection of the tightness of the generator stator slot wedge based on the sound information generated by knocking vibration.

[0003] Chinese patent document CN118641625A, published (announced) on September 13, 2024, discloses a generator unit stator and rotor internal inspection and processing operation device, which includes a circumferential guide rail mechanism, a mobile vehicle, a radial telescopic mechanism, a vertical lifting mechanism and a replaceable operation tool. The circumferential guide rail mechanism is arranged on the generator unit rotor, the mobile vehicle is arranged on the circumferential guide rail mechanism and can walk on the circumferential guide rail mechanism, the vertical lifting mechanism is connected with the mobile vehicle through the radial telescopic mechanism, and the replaceable operation tool is arranged on the vertical lifting mechanism. The vertical lifting mechanism carries the replaceable operation tool into the gap between the stator and the rotor, drives the replaceable operation tool to ascend and descend, and the replaceable operation tool detects the tightness of the generator stator slot wedge based on the knocking operation sound of the generator stator slot wedge. The device has the characteristics that it enters the narrow gap through the vertical lifting mechanism to perform inspection and processing operation. However, it has the disadvantage that the circumferential guide rail mechanism needs to be installed on the generator before inspection, and the radial telescopic mechanism and the vertical lifting mechanism need to be controlled simultaneously during use, which is relatively complex to install and control. SUMMARY

[0004] To solve the current technical problems, the main purpose of the present application is to provide a generator set stator rotor narrow gap inspection operation robot and its use method, to solve the problem of too narrow gap in the process of detecting the tightness of large hydro-generator stator slot wedge, and the complexity of existing mechanism installation and control.

[0005] The technical scheme adopted by the present application is: a generator set stator rotor narrow gap inspection operation robot, comprising a rack and a power transmission device, a walking device, a knocking operation device and a sound collecting device arranged on the rack; wherein the power transmission device provides power support for the robot, the walking device is used to drive the robot to perform inchworm movement in the narrow gap of the generator set stator rotor, the knocking operation device is used to knock the stator slot wedge, and the sound collecting device is used to collect sound information generated by the knocking vibration of the knocking operation device, thereby realizing the tightness detection of the stator slot wedge.

[0006] The rack comprises an upper rack, a lower rack and a walking mounting rack, the internal space of the upper rack and the lower rack is provided with the power transmission device, the left and right sides of the lower rack are respectively provided with the walking mounting rack, the walking devices on the two sides are respectively swing-mounted on the walking mounting racks on the two sides, and the walking devices are connected and driven with the power transmission device through the walking mounting racks; the knocking operation device and the sound collecting device are mounted on the front end or the rear end of the lower rack.

[0007] The power transmission device comprises a front and rear swing driving mechanism and an up and down swing driving mechanism, the front and rear swing driving mechanism comprises a motor, a motor output shaft, a driving gear, a driven gear and a driven shaft, the driving gear is mounted on the motor output shaft of the motor, the driven shaft is parallel to the motor output shaft, the driven gear is mounted on the driven shaft, the driving gear and the driven gear are in meshing transmission, and the motor output shaft and the driven shaft are respectively in transmission connection with the walking devices on the two sides to drive the walking devices to swing forward and backward, the up and down swing driving mechanism is synchronous with the front and rear swing driving mechanism to drive the walking devices to swing up and down.

[0008] The walking device comprises a turbine, a worm, an electromagnet I, an electromagnet II, a center electromagnet, a swing connecting rod and an electromagnet mounting rack, two swing connecting rods are swing-mounted on the walking mounting rack, the worm is mounted in the inside of the walking mounting rack, the two ends of the worm are respectively rotatably connected with the lower rack, one of the swing connecting rods on each walking mounting rack is fixedly provided with a turbine at one end in the inside of the walking mounting rack, the turbine is in meshing transmission with the corresponding worm, the other ends of the two swing connecting rods on each side are hingedly provided with an electromagnet mounting rack, and the electromagnet I and the electromagnet II are respectively mounted on the lower ends of the electromagnet mounting rack; at least one center electromagnet is mounted on the bottom of the lower rack; the up and down swing driving mechanism is in transmission connection with the walking mounting rack; the motor output shaft and the driven shaft are respectively in transmission connection with the worms on the two sides to drive the worms to rotate.

[0009] The up-and-down swing driving mechanism comprises a driving bevel gear, a driven bevel gear, a spiral inner circular shaft, spiral positioning pins and a connecting rod, the driving bevel gear is installed on the driven shaft, the driven bevel gear is installed below the spiral inner circular shaft, the driven bevel gear is in meshing transmission with the driving bevel gear, the two spiral positioning pins are respectively installed on the left and right sides of the spiral inner circular shaft and are guided to slide up and down, the spiral inner circular shaft is provided with a sliding groove, one end of the spiral positioning pin extends into the sliding groove, and the other end is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the walking mounting frame.

[0010] The motor output shaft and the driven shaft are respectively provided with synchronous pulleys I and II, and the two sides of the worm are also provided with corresponding synchronous pulleys, and the synchronous pulleys on the two sides of the worm are respectively in transmission connection with the synchronous pulleys I and II through the synchronous belts I and II.

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

[0012] The knocking operation device comprises a rudder, a knocking hammer mounting frame, a return spring, a knocking hammer handle, a knocking hammer head, a knocking hammer output shaft, one end of the knocking hammer handle is movably installed on the knocking hammer mounting frame through a pivot, the pivot is further provided with the return spring, one end of the return spring acts on the knocking hammer mounting frame, and the other end acts on the knocking hammer handle, the knocking hammer mounting frame is further provided with a cam through the knocking hammer output shaft, the protruding end of the cam can abut against the knocking hammer handle, one side of the knocking hammer mounting frame is provided with the rudder, and the output shaft of the rudder is connected in transmission with the knocking hammer output shaft; and the knocking hammer head is installed at the other end of the knocking hammer handle.

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

[0014] The use method of the generator set fixed rotor narrow gap inspection operation robot is used for walking in the narrow gap between the generator set fixed rotor and the stator slot wedge, and detecting the tightness of the stator slot wedge, and the use method comprises the following steps:

[0015] In the crawling stage, the motor is positively and reversely reciprocated, the motor output shaft and the driven shaft are synchronously rotated, the worm of the two walking devices is driven to rotate, the swing connecting rod is swung forward or backward, and the electromagnet mounting frame on the two sides is synchronously swung forward or backward;

[0016] In the process that the electromagnet mounting frame is swung forward or backward, the driven shaft synchronously drives the spiral inner circular shaft to rotate, the spiral positioning pin is driven to reciprocate up and down, and the walking mounting frame is driven to swing up and down through the connecting rod when the spiral positioning pin reciprocates up and down;

[0017] When the electromagnet mounting frame swings forward or backward, the electromagnet I and the electromagnet II are powered off, the center electromagnet is powered on, the center electromagnet is adsorbed to the working surface, the robot is prevented from falling, when the electromagnet mounting frame falls to the lowest point, the electromagnet I and the electromagnet II are powered on, the electromagnet I and the electromagnet II are adsorbed to the working surface, and the electromagnet is powered off at the same time;

[0018] In the detection stage, the knocking working device knocks the stator slot wedge, and the sound collecting device collects the sound information generated by the knocking vibration of the knocking working device.

[0019] The present application has the following beneficial effects:

[0020] 1. The narrow-gap inspection robot for the stator and rotor of a generator set provided by the present application is used for internal inspection and processing of the stator and rotor of a generator set, does not need to be installed with a circumferential guide rail mechanism when used, and the control is relatively simple, and can realize nondestructive detection of the tightness of the stator slot wedge of a generator based on the sound information generated by knocking vibration. The robot can be used for knocking detection in a narrow gap, can enter the space to be worked through a narrow gap, and has the advantages of small size and simple structure, and is widely used.

[0021] 2. The walking device of the present application is used to drive the robot to move inchwise in the narrow gap of the stator and rotor of a generator set, the motor is used as the power output of the whole machine, and the movement of the robot is realized through the attraction of the electromagnet, which can well adapt to the movement in the narrow gap of the stator and rotor.

[0022] 3. The present application uses the steering engine as the driving force output of the knocking hammer, which can well adapt to the working space of the narrow gap of the stator and rotor, and is simple to control and easy to realize. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of the present application.

[0025] Figure 2 It is a schematic diagram of the three-dimensional structure of the present application from another perspective.

[0026] Figure 3 It is a schematic diagram of the internal power transmission device and the walking device structure of the present application.

[0027] Figure 4 A perspective view of the power transmission device of the present application.

[0028] Figure 5 A perspective view of the bottom structure of the present application.

[0029] Figure 6 A perspective view of the percussion device of the present application.

[0030] Figure 7 A perspective view of the spiral inner shaft of the present application.

[0031] Figure 8 A top view of the first state of the robot walking device in motion.

[0032] Figure 9 A front view of the first state of the robot walking device in motion.

[0033] Figure 10 A top view of the second state of the robot walking device in motion.

[0034] Figure 11 A front view of the second state of the robot walking device in motion.

[0035] Figure 12 A top view of the third state of the robot walking device in motion.

[0036] Figure 13 A front view of the third state of the robot walking device in motion.

[0037] Figure 14 A view of the robot working in the narrow gap between the stator and the rotor.

[0038] Reference numerals:

[0039] Frame 1, upper frame 101, lower frame 102, walking mounting frame 103;

[0040] Power transmission device 2, motor 201, motor output shaft 202, driving gear 203, driven gear 204, synchronous pulley I 205, synchronous pulley II 206, synchronous belt I 207, synchronous belt II 208, driving bevel gear 209, driven bevel gear 210, spiral inner shaft 211, sliding groove 212, driven shaft 213;

[0041] Walking device 3, turbine 301, worm 302, electromagnet I 303, electromagnet II 304, center electromagnet 305, swing connecting rod 306, spiral positioning pin 307, connecting rod 308, electromagnet mounting frame 309;

[0042] Knocking operation device 4, steering gear 401, knocking hammer mounting frame 402, return spring 403, knocking hammer handle 404, knocking hammer head 405, knocking hammer output shaft 406, cam 407;

[0043] Sound collecting device 5;

[0044] Narrow gap 6. DETAILED DESCRIPTION

[0045] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0046] Embodiment one:

[0047] See Figures 1-14 The present application provides a narrow-gap inspection robot for generator stator, comprising a frame 1, a power transmission device 2, a walking device 3, a knocking operation device 4 and a sound collecting device 5 arranged on the frame 1. The power transmission device 2 provides power support for the robot, the walking device 3 is used to drive the robot to move inchwise in the narrow gap 6 of the generator stator, the knocking operation device 4 is used to knock the stator slot wedge, and the sound collecting device 5 is used to collect the sound information generated by the knocking vibration of the knocking operation device 4, so as to realize the tightness detection of the stator slot wedge. The narrow-gap inspection robot for generator stator provided by the present application is used for internal inspection and processing operation of the generator stator, and can realize non-destructive detection of the tightness of the generator stator slot wedge based on the sound information generated by the knocking vibration. The robot can be used for knocking detection operation in narrow gap, and can enter the space to be operated through a narrow gap. The operation mechanism has the advantages of small size and simple structure.

[0048] See Figure 2 In the embodiment of the present application, the frame 1 comprises an upper frame 101, a lower frame 102 and a walking mounting frame 103. The power transmission device 2 is installed in the internal space of the upper frame 101 and the lower frame 102. The walking mounting frames 103 are arranged on the left and right sides of the lower frame 102 respectively. The walking devices 3 on the two sides are swingably installed on the walking mounting frames 103 on the two sides respectively, and the walking devices 3 are connected and driven by the power transmission device 2 through the walking mounting frames 103. The knocking operation device 4 and the sound collecting device 5 are installed at the front end or the rear end of the lower frame 102. The internal space of the upper frame 101 and the lower frame 102 forms a cavity, which is used to install the power transmission device 2 and realize the transmission connection between the power transmission device 2 and the walking device 3.

[0049] See Figure 3、 4 , The power transmission device 2 comprises a front and rear swing driving mechanism and an up and down swing driving mechanism, the front and rear swing driving mechanism comprises a motor 201, a motor output shaft 202, a driving gear 203, a driven gear 204 and a driven shaft 213, the motor output shaft 202 of the motor 201 is provided with the driving gear 203, the driven shaft 213 is parallel to the motor output shaft 202, the driven shaft 213 is provided with the driven gear 204, the driving gear 203 and the driven gear 204 are in meshing transmission, the motor output shaft 202 and the driven shaft 213 are respectively in transmission connection with the two sides of the walking device 3 to drive the walking device 3 to swing forward and backward, the up and down swing driving mechanism is synchronous with the front and rear swing driving mechanism to drive the walking device 3 to swing up and down. When the motor 201 rotates, the motor output shaft 202 rotates, since the driving gear 203 and the driven gear 204 are in meshing, the driven shaft 213 is driven to rotate synchronously and reversely.

[0050] Further, referring to Figure 3 , The walking device 3 comprises a turbine 301, a worm 302, an electromagnet I 303, an electromagnet II 304, a center electromagnet 305, a swing connecting rod 306 and an electromagnet mounting frame 309, two swing connecting rods 306 are rotatably mounted on the walking mounting frame 103, the worm 302 is mounted in the walking mounting frame 103, the two ends of the worm 302 are respectively rotatably connected with the lower frame 102, one of the swing connecting rods 306 on each side of the walking mounting frame 103 is fixedly provided with the turbine 301 at one end inside the walking mounting frame 103, the turbine 301 is in meshing transmission with the corresponding worm 302, the other end of the two swing connecting rods 306 on each side is hingedly provided with the electromagnet mounting frame 309, the lower two ends of the electromagnet mounting frame 309 are respectively provided with the electromagnet I 303 and the electromagnet II 304; at least one center electromagnet 305 is mounted on the bottom of the lower frame 102; the up and down swing driving mechanism is in transmission connection with the walking mounting frame 103; the motor output shaft 202 and the driven shaft 213 are respectively in transmission connection with the two sides of the worm 302 to drive the worm 302 to rotate. The motor output shaft 202 and the driven shaft 213 drive the two sides of the worm 302 to rotate, since the turbine 301 is in meshing with the worm 302 and the turbine 301 is fixedly connected with the swing connecting rod 306, when the worm 302 rotates reversely, the turbine 301 slides on the worm 302, thereby driving the swing connecting rod 306 to swing, thereby driving the electromagnet mounting frame 309 to swing forward and backward, in the process of the electromagnet mounting frame 309 swinging forward and backward, the up and down swing driving mechanism is in transmission connection with the walking mounting frame 103 to drive the walking mounting frame 103 to swing up and down, thereby driving the electromagnet mounting frame 309 to swing up and down.

[0051] Referring to Figure 8 , 9These are, respectively, a top view and a front view of the robot's walking mechanism in its first state of motion. Figure 8 In the middle, the swing link 306 swings backward to its limit. At this time, electromagnets I 303, II 304, and the central electromagnet 305 are in the same plane, as shown. Figure 9 As shown.

[0052] See Figure 10 , 11 These are, respectively, a top view and a front view of the robot's walking mechanism in its second state of motion. Figure 10 In the middle, the swing link 306 swings forward to its limit. At this time, electromagnets I 303, II 304, and the central electromagnet 305 are also in the same plane, as shown. Figure 11 As shown.

[0053] See Figure 12 , 13 These are, respectively, a top view and a front view of the robot's locomotion device in its third state of motion. Figure 12 In the middle position, the swing linkage 306 swings to the middle position. At this time, electromagnets I 303 and II 304 are located above the central electromagnet 305, as shown. Figure 12 As shown.

[0054] In this embodiment, see Figure 3 , 4 The up-and-down swing drive mechanism includes a driving bevel gear 209, a driven bevel gear 210, a spiral inner shaft 211, a spiral positioning pin 307, and a connecting rod 308. The driving bevel gear 209 is mounted on the driven shaft 213, and the driven bevel gear 210 is mounted below the spiral inner shaft 211. The driven bevel gear 210 meshes with the driving bevel gear 209 for transmission. Two spiral positioning pins 307 are mounted on the left and right sides of the spiral inner shaft 211 respectively, guiding and sliding up and down. A groove 212 is provided on the spiral inner shaft 211. One end of the spiral positioning pin 307 extends into the groove 212, and the other end is hinged to one end of the connecting rod 308. The other end of the connecting rod 308 is hinged to the traveling mounting frame 103. When the driven shaft 213 rotates, it drives the driving bevel gear 209 to rotate. The driving bevel gear 209 then drives the driven bevel gear 210 to rotate, and the driven bevel gear 210 then drives the inner spiral shaft 211 to rotate. The outer wall of the inner spiral shaft 211 is provided with a groove 212, and the spiral positioning pin 307 slides up and down by cooperating with the slide block. Figure 3 The middle slide is not shown. One end of the spiral positioning pin 307 extends into the slide groove 212. When the spiral positioning pin 307 rotates, it can drive the spiral positioning pin 307 to move up and down. Since the spiral positioning pin 307 is hinged to the walking mounting frame 103 through the connecting rod 308, it can push and pull the walking mounting frame 103 up and down, so that the walking mounting frame 103 surrounds the worm gear 302, thereby driving the electromagnet mounting frame 309 to swing up and down.

[0055] In one of the schemes, referring to Figure 3 , the motor output shaft 202 and the driven shaft 213 are respectively provided with synchronous pulley I 205 and synchronous pulley II 206, and the two sides of the worm 302 are also provided with corresponding synchronous pulleys, and the synchronous pulleys on the two sides of the worm 302 are respectively connected in transmission with the synchronous pulley I 205 and the synchronous pulley II 206 through synchronous belt I 207 and synchronous belt II 208.

[0056] In addition to the above-mentioned driving mode of the motor output shaft 202 and the driven shaft 213 to drive the two sides of the worm 302 to rotate, the motor output shaft 202 and the driven shaft 213 can also be connected in transmission with the worm 302 through gear transmission.

[0057] In this embodiment, referring to Figure 4 , 7 , the chute 212 is a symmetrical annular structure with one end high and the other end low.

[0058] In this embodiment, referring to Figure 6 , the knocking operation device 4 includes a rudder 401, a knocking hammer mounting frame 402, a reset spring 403, a knocking hammer handle 404, a knocking hammer head 405, and a knocking hammer output shaft 406. One end of the knocking hammer handle 404 is movably mounted on the knocking hammer mounting frame 402 through a pivot, and the pivot is also provided with the reset spring 403, one end of which acts on the knocking hammer mounting frame 402, and the other end of which acts on the knocking hammer handle 404. The knocking hammer mounting frame 402 is also provided with a cam 407 through the knocking hammer output shaft 406, the protruding end of the cam 407 can abut against the knocking hammer handle 404, and the rudder 401 is mounted on one side of the knocking hammer mounting frame 402, and the output shaft of the rudder 401 is connected in transmission with the knocking hammer output shaft 406. The knocking hammer head 405 is mounted on the other end of the knocking hammer handle 404. The rudder 401 drives the knocking hammer output shaft 406 to rotate, thereby driving the cam 407 to rotate. When the cam 407 rotates, the protruding end of the cam 407 can abut against the knocking hammer handle 404. When the protruding end of the cam 407 continues to rotate, the protruding end of the cam 407 presses down the knocking hammer handle 404 to be raised, and then the protruding end of the cam 407 is misaligned with the knocking hammer handle 404, at which time the knocking hammer handle 404 is quickly reset under the action of the reset spring 403, thereby making the knocking hammer head 405 knock the stator slot wedge. As long as the cam 407 rotates one circle, the knocking hammer head 405 can knock once. In this embodiment, the reset spring 403 is a torsional spring.

[0059] In this embodiment, referring to Figure 1 , 2 , the number of the knocking operation devices 4 is two, and the sound collecting device 5 is arranged between the two knocking operation devices 4.

[0060] The sound collecting device 5 adopts a triangular AT899 super-small omnidirectional microphone in the embodiment.

[0061] Embodiment two:

[0062] The use method of the generator set stator narrow gap inspection operation robot is used for walking in the narrow gap 6 between the generator set stator and rotor, and detecting the tightness of the stator slot wedge, and the use method comprises the following steps:

[0063] In the crawling stage, the motor 201 is fixed and reciprocally rotated forward and backward, the motor output shaft 202 and the driven shaft 213 are synchronously rotated, thereby driving the two worm gears 302 of the walking devices 3 to rotate, thereby driving the swing connecting rods 306 to swing forward or backward, thereby synchronously driving the electromagnet mounting frames 309 on both sides to swing forward or backward.

[0064] In the process that the electromagnet mounting frames 309 swing forward or backward, the driven shaft 213 synchronously drives the spiral inner shaft 211 to rotate, thereby driving the spiral positioning pins 307 to reciprocally move up and down, and when the spiral positioning pins 307 reciprocally move up and down, the walking mounting frames 103 are driven to swing up and down through the connecting rods 308.

[0065] When the electromagnet mounting frames 309 swing forward or backward, the electromagnet I 303 and the electromagnet II 304 are powered off, the center electromagnet 305 is powered on, the center electromagnet 305 is adsorbed to the working surface, and the robot is prevented from falling, when the electromagnet mounting frames 309 fall to the lowest point, the electromagnet I 303 and the electromagnet II 304 are powered on, the electromagnet I 303 and the electromagnet II 304 are adsorbed to the working surface, and the electromagnet 305 is powered off, thereby performing inchworm upward or downward movement.

[0066] In the detection stage, the knocking operation device 4 knocks the stator slot wedge, and the sound collecting device 5 collects the sound information generated by the knocking vibration of the knocking operation device 4. Then the sound information collected can be post-processed to identify the tightness state of the slot wedge.

[0067] The method for post-processing the sound information comprises the following steps: through frequency analysis, time domain analysis and frequency domain analysis of the knocking sound, the characteristics of the sound are extracted, and the sound samples of various states of the slot wedge are compared, so that the tightness state of the slot wedge is obtained. The generator set can be quickly detected, the original data is automatically saved, and the tightness mode cloud map report matched with the position of the slot wedge is generated.

Claims

1. A narrow-gap generator set stator-rotor inspection operation robot, characterized by, The utility model provides a kind of generator robot, including rack (1) and be provided on rack (1) power transmission device (2), walking device (3), knock working device (4) and sound acquisition device (5);Wherein power transmission device (2) provides power support for robot, walking device (3) is used to drive robot to carry out inchworm motion in generator set fixed rotor narrow gap (6), knock working device (4) is used to knock work to stator slot wedge, sound acquisition device (5) is used to acquire the sound information of vibration generated by knock of knock working device (4), and the tightness detection of stator slot wedge is realized; The rack (1) includes upper rack (101), lower rack (102) and walking mounting frame (103), the internal space of upper rack (101) and lower rack (102) is installed with power transmission device (2), the left and right sides of lower rack (102) are provided with walking mounting frame (103) respectively, the walking device (3) of two sides is respectively installed on the walking mounting frame (103) of two sides and swings, and walking device (3) is connected and driven by walking mounting frame (103) with power transmission device (2);Knock working device (4) and sound acquisition device (5) are installed at the front end or rear end of lower rack (102); The power transmission device (2) includes front and back swing driving mechanism and up and down swing driving mechanism, the front and back swing driving mechanism includes motor (201), motor output shaft (202), driving gear (203), driven gear (204) and driven shaft (213), the motor output shaft (202) of motor (201) is installed with driving gear (203), driven shaft (213) is parallel with motor output shaft (202), driven shaft (213) is installed with driven gear (204), driving gear (203) and driven gear (204) are engaged transmission, the motor output shaft (202) and driven shaft (213) are respectively connected with the transmission of two sides walking device (3) to drive walking device (3) to swing forward and backward, the up and down swing driving mechanism is synchronous with front and back swing driving mechanism, to drive walking device (3) to swing up and down; The walking device (3) comprises a worm wheel (301), a worm (302), an electromagnet I (303), an electromagnet II (304), a center electromagnet (305), a swing connecting rod (306) and an electromagnet mounting rack (309), two swing connecting rods (306) are rotatably mounted on the walking mounting rack (103), the worm (302) is mounted in the walking mounting rack (103), the two ends of the worm (302) are rotatably connected with the lower rack (102), one of the swing connecting rods (306) on each walking mounting rack (103) is fixedly provided with the worm wheel (301) at one end in the walking mounting rack (103), the worm wheel (301) is in meshing transmission with the corresponding worm (302), the other ends of the two swing connecting rods (306) on each side are hingedly provided with the electromagnet mounting rack (309), the electromagnet I (303) and the electromagnet II (304) are respectively mounted on the lower ends of the electromagnet mounting rack (309); at least one center electromagnet (305) is mounted on the bottom of the lower rack (102); the up-down swing driving mechanism is connected with the walking mounting rack (103) in transmission; the motor output shaft (202) and the driven shaft (213) are respectively in transmission connection with the two worms (302) to drive the worms (302) to rotate.

2. The generator set stator-rotor narrow-gap inspection operating robot according to claim 1, characterized in that, The up-down swing driving mechanism comprises a driving bevel gear (209), a driven bevel gear (210), a spiral inner circular shaft (211), a spiral positioning pin (307) and a connecting rod (308), the driving bevel gear (209) is mounted on the driven shaft (213), the driven bevel gear (210) is mounted below the spiral inner circular shaft (211), the driven bevel gear (210) is in meshing transmission with the driving bevel gear (209), the two spiral positioning pins (307) are respectively mounted on the left and right sides of the spiral inner circular shaft (211) and are guided to slide up and down, the spiral inner circular shaft (211) is provided with a sliding groove (212), one end of the spiral positioning pin (307) extends into the sliding groove (212), the other end is hingedly connected with one end of the connecting rod (308), and the other end of the connecting rod (308) is hingedly connected with the walking mounting rack (103).

3. The generator set stator-rotor narrow-gap inspection operating robot according to claim 1, characterized in that, The motor output shaft (202) and the driven shaft (213) are respectively provided with a synchronous pulley I (205) and a synchronous pulley II (206), and the worms (302) on the two sides are also provided with corresponding synchronous pulleys, the synchronous pulleys on the worms (302) on the two sides are respectively in transmission connection with the synchronous pulley I (205) and the synchronous pulley II (206) through synchronous belts I (207) and II (208).

4. The generator set stator-rotor narrow-gap inspection operating robot according to claim 2, characterized by, The sliding groove (212) is high at one end and low at the other end and has a symmetrical annular structure.

5. The generator set stator-rotor narrow gap inspection robot of claim 1, wherein, The knocking working device (4) comprises a rudder (401), a knocking hammer mounting rack (402), a reset spring (403), a knocking hammer handle (404), a knocking hammer head (405), and a knocking hammer output shaft (406), one end of the knocking hammer handle (404) is movably mounted on the knocking hammer mounting rack (402) through a pivot, the reset spring (403) is further mounted on the pivot, one end of the reset spring (403) acts on the knocking hammer mounting rack (402), and the other end acts on the knocking hammer handle (404), the knocking hammer mounting rack (402) is further provided with a cam (407) through the knocking hammer output shaft (406), the protruding end of the cam (407) can abut against the knocking hammer handle (404), one side of the knocking hammer mounting rack (402) is provided with the rudder (401), and the output shaft of the rudder (401) is connected with the knocking hammer output shaft (406) for transmission; the knocking hammer head (405) is mounted on the other end of the knocking hammer handle (404).

6. The generator set stator narrow gap inspection robot of claim 1 or 5, wherein, The number of the knocking working devices (4) is two, and the sound collecting device (5) is arranged between the two knocking working devices (4).

7. The method of using the narrow gap inspection robot of claim 2, wherein the method comprises: rotating the rotor of the generator set to a predetermined speed; and rotating the inspection robot at a predetermined speed. The method comprises the following steps: During the crawling stage, the motor (201) is positively and reversely reciprocated, the motor output shaft (202) and the driven shaft (213) are synchronously rotated, thereby driving the two worm gears (302) of the walking devices (3) to rotate, thereby driving the swing connecting rods (306) to swing forward or backward, thereby synchronously driving the electromagnet mounting racks (309) on the two sides to swing forward or backward; During the swinging of the electromagnet mounting racks (309), the driven shaft (213) synchronously drives the spiral inner shaft (211) to rotate, thereby driving the spiral positioning pins (307) to reciprocate up and down, and when the spiral positioning pins (307) reciprocate up and down, the walking mounting racks (103) are driven to swing up and down through the connecting rods (308); When the electromagnet mounting racks (309) swing forward or backward, the electromagnet I (303) and the electromagnet II (304) are powered off, the center electromagnet (305) is powered on, the center electromagnet (305) is adsorbed to the working surface, and the robot is prevented from falling, when the electromagnet mounting racks (309) fall to the lowest point, the electromagnet I (303) and the electromagnet II (304) are powered on, the electromagnet I (303) and the electromagnet II (304) are adsorbed to the working surface, and the center electromagnet (305) is powered off; During the detection stage, the knocking working device (4) knocks the stator slot wedge, and the sound collecting device (5) collects sound information generated by the knocking vibration of the knocking working device (4).

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