Generator detection robot

Abstract

The invention discloses a generator detection robot, and relates to the technical field of detection equipment, the generator detection robot comprises a detection device, at least three driving modules and a lateral execution module, the detection device is arranged on the driving modules, and the driving modules comprise a first driving module, a second driving module and a third driving module; the lateral execution module comprises a hinge rod and a telescopic device, the two ends of the hinge rod are hinged to the side portion of the first driving module and the side portion of the second driving module respectively, the telescopic end of the telescopic device can drive the first driving module to slide in the first direction so that the second driving module can move in the second direction, and the first direction is perpendicular to the second direction; a turntable of the second driver is rotationally arranged on the base, the turntable can rotate around the axis parallel to the second direction, the walking mechanism is arranged in the turntable, and the walking mechanism can walk in the plane where the first direction is located. The generator detection robot provided by the invention can realize flexible movement, and is relatively high in detection efficiency and detection precision.

Description

Technical Field

[0001] The present invention relates to the technical field of detection equipment, in particular to a generator detection robot. Background Art

[0002] As the core equipment of power generation systems, generators face multiple challenges during long-term operation: mechanical wear, vibration stress, thermal loads, and other factors can lead to performance degradation and various failures. Common generator failures include winding overheating and burnout, bearing wear and failure, insulation aging, and loose electrical connections. These failures not only reduce power generation efficiency but, in severe cases, can cause unit shutdown, directly impacting the stable operation of the power grid. Therefore, establishing an efficient generator status monitoring and fault warning mechanism is of great significance to ensuring the safe and reliable operation of the power system.

[0003] Traditional generator maintenance methods have obvious limitations. Large lifting equipment is required to pull the rotor, which weighs tens of tons, off the stator. Inspectors then have to enter the narrow generator chamber for manual inspection. This method of operation is not only inefficient and costly, but also poses major safety hazards and makes it difficult to achieve comprehensive and detailed inspections. To address such issues, a small number of robotic inspections currently exist, but robotic inspections are still in their infancy in this field. Current inspection robots mostly use a single crawling mode, with poor freedom of movement and flexibility, resulting in insufficient inspection accuracy and low inspection efficiency. Therefore, there is an urgent need for a generator inspection robot to address the above technical problems. Summary of the Invention

[0004] The purpose of the present invention is to provide a generator inspection robot to solve the problems existing in the above-mentioned prior art, which can realize flexible movement and has high inspection efficiency and inspection accuracy.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a generator inspection robot, comprising at least three drive modules and a lateral execution module, the three drive modules being respectively a first drive module, a second drive module and a third drive module, and the second drive module being located between the first drive module and the third drive module, the lateral execution module comprising a hinged rod and a telescopic device, the two ends of the hinged rod being hinged to the side of the first drive module and the side of the second drive module respectively, the telescopic end of the telescopic device being fixedly connected to the side of the first drive module, the fixed end of the telescopic device being hinged to the third drive module, and the telescopic end of the telescopic device being capable of driving the first drive module to slide in a first direction so as to move the second drive module in a second direction, and the first direction being perpendicular to the second direction, the second drive module comprising a base, a turntable and a walking mechanism, the turntable being rotatably disposed on the base, and being driven by the first drive mechanism and being capable of rotating around an axis parallel to the second direction, the walking mechanism being disposed within the turntable, and being driven by the second drive mechanism and being capable of walking within a plane in the first direction.

[0007] In some embodiments, each of the driving modules includes a base, a turntable, and a walking mechanism.

[0008] In some embodiments, a worm gear box and a first transmission gear are further included, the turntable includes an inner plate, an outer plate and a chassis, the inner plate is arranged in the outer plate and fixed to the outer plate, the chassis is fixedly arranged at the bottom of the inner plate and the outer plate, the outer ring of the chassis is fixedly sleeved with a ring gear, the worm in the worm gear box is fixedly connected to the output end of the first drive mechanism, the first transmission gear is coaxially arranged and fixedly connected to the worm wheel in the worm gear box, and the first transmission gear is meshed with the ring gear.

[0009] In some embodiments, the walking mechanism includes a driving gear, a driven gear, a driving pulley, a driven pulley and a synchronous belt, the driving gear is fixedly connected to the output end of the second driving mechanism, the driven gear is fixedly arranged at the end of the driving pulley, the driving gear is meshed with the driven gear, and the synchronous belt is sleeved on the driving pulley and the driven pulley.

[0010] In some embodiments, it also includes a first side fixing frame and a second side fixing frame, the first side fixing frame is fixedly connected to the first driving module, the second side fixing frame is fixedly connected to the third driving module, the telescopic device includes a push rod motor, a slide rail and a slider, the push rod motor is fixedly connected to the second side fixing frame, the push rod of the push rod motor is fixedly connected to the slider, the slider is fixedly connected to the first side fixing frame, the slide rail is fixedly arranged on the side of the second side fixing frame, and the slider is slidably connected to the slide rail.

[0011] In some embodiments, a plurality of V-shaped guide wheels are further included, wherein the V-shaped guide wheels are rotatably disposed on the base, and the rotation axis is parallel to the second direction. The V-shaped guide wheels have a V-shaped groove, and the outer disk has an outer edge, and the outer edge can extend into the V-shaped groove.

[0012] In some embodiments, it also includes a cover plate, a support and a plurality of followers, the cover plate has a hole in the middle, the cover plate is located above the base and on the outer periphery of the outer disk, and the cover plate is relatively fixed to the base, the support is fixed on the base, one of the followers is fixed on the support, a plurality of followers are fixed on the inner ring edge of the cover plate, and the rotating body of the follower is arranged in contact with the upper edge of the outer ring.

[0013] In some embodiments, a camera is further included, and the camera is fixedly disposed on a side of the first driving device.

[0014] In some embodiments, a compression spring cover and a plurality of compression springs are further included, wherein the bottom of the compression spring is fixedly arranged on the upper part of the base, an opening is arranged in the middle of the compression spring cover, the walking mechanism can pass through the opening, and the compression spring cover is fixedly connected to the top of the compression spring.

[0015] In some embodiments, a plurality of first wedge blocks are provided on the side of the first driving module close to the second driving module, and a plurality of second wedge blocks are provided on the side of the second driving module close to the first driving module, the inclined surface of the first wedge block gradually moves away from the first driving module from top to bottom, and the inclined surface of the second wedge block gradually moves closer to the second driving module from top to bottom, and the inclined surface of the first wedge block can fit together with the inclined surface of the second wedge block, a plurality of third wedge blocks are provided on the side of the second driving module close to the third driving module, and a plurality of fourth wedge blocks are provided on the side of the third driving module, the inclined surface of the third wedge block gradually moves closer to the second driving module from top to bottom, and the inclined surface of the fourth wedge block gradually moves away from the third driving module from top to bottom, and the inclined surface of the third wedge block can fit together with the inclined surface of the fourth wedge block, the camera is fixedly provided on the side of the first driving module away from the second driving module, and the control interface is fixedly provided on the side of the third driving module away from the second driving module.

[0016] Compared with the prior art, the present invention has achieved the following technical effects:

[0017] The generator inspection robot provided by the present invention has a telescopic device with a telescopic end hinged to the side of the first drive module and a fixed end hinged to the side of the third drive module. The telescopic end can move the first drive module toward or away from the third drive module, and one end of the hinged rod is hinged to the first drive module and the other end is hinged to the second drive module. When the telescopic end of the telescopic device retracts, that is, the first drive module approaches the third drive module, the second drive module is lifted up by the hinged rod until it is in contact with the surface of the stator, and the first and third drive modules are in contact with the surface of the rotor, thereby clamping the entire generator inspection robot between the stator and rotor of the generator. The turntable is rotatably arranged on the base and can rotate relative to the base. The walking mechanism can drive the second drive module to move, and the walking direction is perpendicular to the rotation direction of the turntable. That is, the walking mechanism can achieve walking in any direction within the plane, and the direction adjustment is achieved by rotating the turntable. The second drive module can be moved within the plane through the walking mechanism and the turntable, and can be lifted in the height direction through the telescopic device and the articulated rod. That is, the generator inspection robot can achieve free movement within the plane and movement in the height direction, realizing omnidirectional mobility in the complex environment inside the generator, and can stably stay at any position and carry out inspection operations. The inspection is more comprehensive, and the inspection efficiency and accuracy are high. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 1 An isometric diagram of a generator inspection robot according to some embodiments of the present invention;

[0020] Figure 2 Schematic diagram of the operation of a generator detection robot in some embodiments of the present invention;

[0021] Figure 3 is an axonometric diagram of a first driving module in some embodiments of the present invention;

[0022] Figure 4 This is an axonometric view of the first driving module in some embodiments of the present invention without the main cover, auxiliary cover, and side connecting plate cover;

[0023] Figure 5 This is an axonometric view of the first driving module without the cover in some embodiments of the present invention;

[0024] Figure 6 An axonometric view of the first driving module without the cover plate, the first side fixing bracket, and the first support block in some embodiments of the present invention;

[0025] Figure 7 A top view of a worm gear box of a first drive module in some embodiments of the present invention;

[0026] Figure 8 An axonometric view of a worm gear box of a first drive module in some embodiments of the present invention;

[0027] Figure 9 A cross-sectional view of the worm shaft system of the first drive module in some embodiments of the present invention;

[0028] Figure 10 A cross-sectional view of the worm gear shaft system of the first drive module in some embodiments of the present invention;

[0029] Figure 11 A top view of the first driving module without the cover plate, the first side fixing frame, and the first supporting block in some embodiments of the present invention;

[0030] Figure 12 An axonometric view of a synchronous pulley of a first drive module in some embodiments of the present invention;

[0031] Figure 13 A top view of the synchronous pulley of the first drive module in some embodiments of the present invention;

[0032] Figure 14 A cross-sectional view of a synchronous pulley of a first drive module in some embodiments of the present invention;

[0033] Figure 15 This is an axonometric view of the bottom of the first driving module in some embodiments of the present invention;

[0034] Figure 16 is an axonometric diagram of a second driving module in some embodiments of the present invention;

[0035] Figure 17 is an axonometric diagram of a third driving module in some embodiments of the present invention;

[0036] Figure 18 This is an axonometric view of the lateral execution module assembly in some embodiments of the present invention;

[0037] Figure 19 It is an axonometric view of a lateral execution module in some embodiments of the present invention;

[0038] Figure 20 It is a partial axonometric view of a lateral execution module in some embodiments of the present invention.

[0039] In the figure: 1-first driving module; 2-second driving module; 3-third driving module; 4-lateral execution module; 5-stator; 6-rotor; 101-camera; 102-first side fixing frame; 103-connecting block cover; 104-side cover; 105-first wedge block; 106-secondary cover; 107-main cover; 108-first support block; 109-support; 110-first follower; 111-second follower; 112-second support block; 11 3-Third follower; 114-Base; 115-V-type guide wheel; 116-Rotating motor; 117-Rotating motor bracket; 118-Worm gear box; 119-Worm; 120-Side flange; 121-Worm shaft; 122-Upper flange cover; 123-Worm wheel; 124-First transmission gear; 125-Gear ring; 126-Side bearing; 127-Worm wheel gasket; 128-Worm wheel shaft; 129-Upper bearing; 130-Lower bearing; 131-Outer plate 132-Inner plate; 133-Spring cover; 134-Bearing seat cover; 135-Synchronous belt; 136-Compression spring; 137-Driven pulley; 138-Motor; 139-Bearing locating seat; 140-Driving gear; 141-Second transmission gear; 142-Driven gear; 143-Driving pulley; 144-Motor fixing plate; 145-Fixed seat; 146-Main bearing seat; 147-Second bearing seat; 148-Chassis; 149-Axle; 201-Second wedge -shaped block; 202-third wedge block; 301-fourth wedge block; 302-control interface; 401-active end lateral connection block; 402-push rod upper cover; 403-push rod lower cover; 404-slide rail; 405-long connecting rod; 406-inner rod; 407-short connecting rod; 408-slider; 409-passive slide connecting rod; 410-passive end lower cover; 411-passive end upper cover; 412-passive end lateral connection block; 413-push rod fixing block; 414-push rod motor. DETAILED DESCRIPTION

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0041] The purpose of the present invention is to provide a generator detection robot to solve the problems existing in the prior art, which can achieve flexible movement and has high detection efficiency and detection accuracy.

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] like Figures 1-20 As shown, the present invention provides a generator inspection robot, comprising at least three drive modules and a lateral execution module, wherein the three drive modules are respectively a first drive module 1, a second drive module 2 and a third drive module 3, and the second drive module 2 is located between the first drive module 1 and the third drive module 3 (in order to facilitate control of the initial state, the height of the second drive module 2 can be set to be slightly higher than the heights of the first drive module 1 and the third drive module 3), and the lateral execution module 4 includes a hinge rod and a telescopic device, the two ends of the hinge rod are respectively hinged to the side of the first drive module 1 and the side of the second drive module 2, and the telescopic end of the telescopic device is hinged to the third drive module 3. The side of a driving module 1 is fixedly connected, the fixed end of the telescopic device is hinged to the third driving module 3, and the telescopic end of the telescopic device can drive the first driving module 1 to slide in the first direction to move the second driving module 2 in the second direction, and the first direction is perpendicular to the second direction. The second driving module 2 includes a base 114, a turntable and a walking mechanism. The turntable is rotatably arranged on the base 114, and the turntable can be driven by the first driving mechanism and can rotate around an axis parallel to the second direction. The walking mechanism is arranged in the turntable, and the walking mechanism can be driven by the second driving mechanism and can walk in the plane where the first direction is located. Because the telescopic end of the telescopic device is hinged to the side of the first drive module 1 and the fixed end is hinged to the side of the third drive module 3, the telescopic end can move the first drive module 1 toward or away from the third drive module 3. One end of the hinged rod is hinged to the first drive module 1, and the other end is hinged to the second drive module 2. When the telescopic end of the telescopic device retracts, that is, the first drive module 1 moves toward the third drive module 3, the second drive module 2 is lifted by the hinged rod until it is in contact with the surface of the stator 5. The first and third drive modules 1 and 3 are in contact with the surface of the rotor 6, thereby clamping the entire generator inspection robot between the stator 5 and rotor 6 of the generator. The turntable is rotatably mounted on the base 114 and can rotate relative to the base 114. The walking mechanism can drive the second drive module 2 to move in a direction perpendicular to the direction of rotation of the turntable. That is, the walking mechanism can achieve movement in any direction within a plane, and the direction is adjusted by the rotation of the turntable. The second drive module 2 can be moved in a plane through the walking mechanism and the turntable, and can be lifted in the height direction through the telescopic device and the articulated rod. That is, the generator detection robot can not only achieve free movement in the plane, but also move in the height direction, realizing omnidirectional mobility in the complex environment inside the generator, and can stably stay at any position and carry out detection operations. The detection is more comprehensive, and the detection efficiency and detection accuracy are high.

[0044] As a preferred embodiment, the side of the third drive module 3 is also connected to the side of the second drive module 2 via an articulated rod. The two articulated rods and the telescopic device form a triangular support structure, with the telescopic device acting as the base of the triangle. Shortening the telescopic device allows the second drive module 2 to be raised, and the support of the two articulated rods ensures more stable lifting and lowering of the second drive module 2.

[0045] In some embodiments, the first drive module 1, the second drive module 2, and the third drive module 3 each include a base 114, a turntable, and a travel mechanism. All three drive modules are capable of travel and turntable direction adjustment. Each drive module can have an independent operating mode, and the multiple modules can cooperate with each other. When the generator detection robot needs to rotate a certain angle, the direction adjustment can be achieved by controlling only one movement or by combining multiple movements.

[0046] In some embodiments, the generator inspection robot further includes a worm gear box 118 and a first transmission gear 124. The turntable includes an inner disk 132, an outer disk 131, and a chassis 148. The inner disk 132 is disposed within and fixed to the outer disk 131. The chassis 148 is fixedly disposed at the bottom of the inner disk 132 and the outer disk 131. The outer ring of the chassis 148 is fixedly sleeved with a ring gear 125. The worm 119 within the worm gear box 118 is fixedly connected to the output end of the first drive mechanism. The first transmission gear 124 is coaxially disposed and fixedly connected to the worm wheel 123 within the worm gear box 118. The first transmission gear 124 is meshed with the ring gear 125. The worm gear transmission has a large transmission ratio and can convert the high-speed rotation of the first drive mechanism (such as a motor) into low-speed, high-precision rotation of the turntable, thereby avoiding position deviation of the turntable due to excessive rotation speed. When the worm 119 stops driving, the worm gear transmission has a self-locking characteristic because the helix angle of the worm 119 is less than the friction angle. This prevents the turntable from rotating due to external forces (such as generator vibration), ensuring that the sensor position is fixed during detection. For example, after the second drive module 2 is attached to the surface of the stator 5, the turntable self-locks to prevent the detection probe from deflecting and ensure the stability of data acquisition. The inner disk 132 is set and fixed inside the outer disk 131 to form a double-layer disk structure, which improves the overall rigidity of the turntable and avoids deformation of the disk due to movement of the running mechanism or detection load. For example, when the running mechanism is installed on the inner disk 132, the outer disk 131 can share the load, preventing the inner disk 132 from being subjected to excessive force at a single point and cracking.

[0047] To be more specific, the first driving mechanism is a rotating motor 116, and the rotating motor bracket 117 is fixedly set on the base 114. The rotating motor 116 is horizontally placed on the base 114 through the rotating motor bracket 117. The output end of the rotating motor 116 is fixedly connected to the end of the worm 119 of the worm gear box 118. A side flange cover 120 is fixedly set on the outer side of the end of the worm gear box 118 away from the rotating motor 116. The worm shaft 121 of the worm 119 passes through the worm gear box 118 and the side flange cover 120, and a side bearing 126 is provided on the worm gear box 118. The worm shaft 121 of the worm 119 is fixedly connected to the inner ring of the side bearing 126, and the outer ring of the side bearing 126 is fixedly connected to the inner wall of the side wall opening of the worm gear box 118. The side flange cover 120 can prevent the side bearing 126 from detaching from the worm gear box 118. The worm gear 123 is arranged vertically, and an upper flange cover 122 is arranged above the worm gear 123. An upper bearing 129 is fixedly embedded in the upper flange cover 122. The worm gear shaft 128 of the worm gear 123 is fixedly connected to the inner ring of the upper bearing 129, and the outer ring of the upper bearing 129 is fixedly connected to the upper flange cover 122. The lower part of the worm gear 123 is fixedly connected to the first transmission gear 124 (specifically a key connection), the bottom plate of the worm gear box 118 is opened and provided with a lower bearing 130, the outer ring of the lower bearing 130 is fixedly connected to the worm gear box 118, the inner ring of the lower bearing 130 is fixedly connected to the worm gear shaft 128 of the worm gear 123, and a worm gear gasket 127 is provided between the worm gear 123 and the bottom plate of the worm gear box 118, that is, the worm gear gasket 127 is located between the worm gear 123 and the lower bearing 130. The setting of multiple bearings can not only play an auxiliary support role, but also play a limiting role.

[0048] In some embodiments, the walking mechanism includes a driving gear 140, a driven gear 142, a driving pulley 143, a driven pulley 137, and a synchronous belt 135. Both the driving pulley 143 and the driven pulley 137 have teeth and grooves. The driving gear 140 is fixedly connected to the output end of the second drive mechanism, and the driven gear 142 is fixedly disposed at the end of the driving pulley 143. The driving gear 140 and the driven gear 142 are meshed and connected. The synchronous belt 135 is sleeved on the driving pulley 143 and the driven pulley 137. The driving pulley 143 drives the driven pulley 137 through the synchronous belt 135. The teeth of the synchronous belt 135 mesh with the pulley grooves without slipping, thereby achieving precise displacement control of the walking mechanism. Moreover, the side of the synchronous belt 135 away from the pulley can be in contact with the stator 5, and friction occurs. The synchronous belt 135 is equivalent to a wheel, and the movement of the walking mechanism is achieved through the rotation and friction of the synchronous belt 135. Traditional walking mechanisms require independent drive wheels and transmission components. However, in this design, the side of the synchronous belt 135 facing away from the pulley directly contacts the surface of the stator 5. The pulley drives the synchronous belt 135 to rotate, and the friction between the synchronous belt 135 and the stator 5 enables walking. This eliminates the need for additional walking wheels, reduces the number of parts (e.g., no drive wheels or axles), and reduces structural complexity. The synchronous belt teeth are tightly meshed with the pulley grooves, and the transmission ratio is constant (the speed ratio of the driving pulley 143 to the driven pulley 137 is equal to the diameter ratio). The displacement of the synchronous belt 135 per rotation during walking can be accurately calculated based on the circumference of the pulleys, avoiding positional errors caused by traditional wheel slippage. For example, when the robot walks along the surface of the stator 5, the travel distance can be precisely planned by controlling the motor angle. The flexibility of the timing belt 135 allows it to conform to even the slightest undulations on the stator 5 surface (such as gaps between laminated silicon steel sheets), reducing vibration during travel. When the robot traverses obstacles such as the edges of stator 5 slots, the elasticity of the timing belt 135 cushions the impact, preventing jamming of the travel mechanism and improving maneuverability over complex surfaces. The outer surface of the timing belt 135 creates surface contact with the stator 5 surface, resulting in evenly distributed wear and slower wear than the point or line contact of traditional wheels.

[0049] It should be noted that a motor fixing plate 144 is vertically arranged in the middle of the inner ring, and the second driving mechanism is a motor 138. The motor 138 is fixedly arranged on the motor fixing plate 144, and the ends of the driving pulley 143 and the driven pulley 137 are rotatably arranged on the motor fixing plate 144. There are two driving pulleys 143 and two driven pulleys 137. The two driving pulleys 143 are respectively arranged on both sides of the motor fixing plate 144. The wheel shafts 149 of the two driving pulleys 143 are fixedly connected. The setting of the two driven pulleys 137 is similar to that of the two driving pulleys 143. A second transmission gear 141, a main bearing seat 146 and a secondary bearing seat 147 are also provided in the turntable. The second transmission gear 141 is arranged between the driving gear 140 and the driven gear 142, and is meshed with both the driving gear 140 and the driven gear 142. The main bearing seat 146 is arranged on one side of the driving gear 140 and the driven gear 142. Four bearing placement holes are provided on the main bearing seat 146, and a bearing is provided in each bearing placement hole. The four bearings are respectively connected to the axle of the driven gear 142, the axle of the second transmission gear 141, the axle of the driving gear 140 and the axle of the driven pulley 137. The bearing locating seat 139 can limit the driving gear 140 and the second transmission gear 141, and the bearing locating seat 139 is fixedly connected to the stator 5 of the motor 138. Auxiliary bearing seat 147 is located on the side opposite to the driving gear 140. Two bearing holes are provided in auxiliary bearing seat 147, each housing a bearing. The two bearings are connected to the axles of the driving pulley 143 and the driven pulley 137, respectively. A bearing seat cover 134 is fixed above both the main bearing seat 146 and the auxiliary bearing seat 147 to prevent dust from entering and protect the internal environment.

[0050] In some embodiments, the generator inspection robot also includes a first side fixing frame 102 and a second side fixing frame, the first side fixing frame 102 is fixedly connected to the first drive module 1, the second side fixing frame is fixedly connected to the third drive module 3, the telescopic device includes a push rod motor 414, a slide rail 404 and a slider 408, the cylinder body of the push rod motor 414 is fixedly connected to the second side fixing frame, the push rod of the push rod motor 414 is fixedly connected to the slider 408, the slider 408 is fixedly connected to the first side fixing frame 102, the slide rail 404 is fixedly arranged on the side of the second side fixing frame, and the slider 408 is slidably connected to the slide rail 404. The slide rail 404 is fixed to the second side mounting bracket, and the slider 408 is connected to the first side mounting bracket 102 and slides along the slide rail 404, forming a rigid linear guide structure. This ensures that when the push rod of the push rod motor 414 is extended or retracted, the first drive module 1 only moves linearly in the first direction (parallel to the slide rail 404), avoiding deviation caused by lateral forces. For example, when the push rod motor 414 pushes the first drive module 1 toward the third drive module 3, the slide rail 404 limits its lateral movement, ensuring positioning accuracy during clamping. The first side mounting bracket 102 is fixedly connected to the first drive module 1 and the slider 408, while the second side mounting bracket is fixedly connected to the third drive module 3, the push rod motor 414, and the slide rail 404. This transmits the force of the telescopic device to the main body of the drive module, preventing the drive module from being directly subjected to the thrust of the push rod motor 414 and deforming. The extension and retraction of the push rod motor 414 is linearly related to the displacement of the first drive module 1. By controlling the stroke of the push rod motor 414, the distance between the first drive module 1 and the third drive module 3 can be precisely adjusted, thereby controlling the clamping force. For different generator stator and rotor gaps 6, the stroke of the push rod motor 414 can be adjusted to maintain the clamping force within a reasonable range (to avoid damaging the equipment due to overtightening or causing the robot to wobble due to overloosening). The push rod motor 414, slide rail 404, and slider 408 are arranged longitudinally along the side of the drive module, occupying little radial space and fitting within the narrow gap between the generator stator and rotor 6.

[0051] It should be noted that a first side mounting bracket 102 is provided on each of two opposing sides of the first drive module 1. The two ends of the two first side mounting brackets 102 are supported by a first support block 108 and a second support block 112, respectively. The first support block 108 and the second support block 112 are arranged perpendicular to the first side mounting bracket 102 and fixed to a base 114. The two first side mounting brackets 102 and the first support blocks 108 and the second support blocks 112 enclose a square area, within which the turntable, travel mechanism, first drive mechanism, second drive mechanism, and other structures are disposed.

[0052] More specifically, the first side fixing frame 102 includes a passive end lateral connection block 412, a passive end upper cover 411, a passive end lower cover 410, and a passive slide connecting rod 409. The passive end lateral connection block 412 is fixedly connected to the side of the first driving module 1. The passive end upper cover 411 and the passive end lower cover 410 are fixedly arranged at the upper and lower parts of the passive end lateral connection block 412, respectively. The passive slide connecting rod 409 is fixedly connected to the end of the passive end lower cover 410. The slider 408 is fixedly connected to the passive slide connecting rod 409. The second side fixing frame includes an active end lateral connection block 401, a push rod upper cover 402, and a push rod lower cover 403. The active end lateral connection block 401 is fixedly connected to the side of the third driving module 3. The push rod upper cover 402 and the push rod lower cover 403 are fixedly arranged at the upper and lower parts of the active end lateral connection block 401, respectively. The slide rail 404 is fixedly arranged on the side of the push rod upper cover 402. The hinged rod includes a long link 405, an inner rod 406, and a short link 407. The ends of the inner rod 406 are respectively fixed to the ends of the long link 405 and the short link 407. The end of the long link 405 away from the inner rod 406 is hinged to the side of the first drive module 1 (third drive module 3), and the end of the short link 407 away from the inner rod 406 is hinged to the side of the second drive module 2. The short links 407 of the two hinged rods are hinged to the same point on the second drive module 2. The push rod of the push rod motor 414 is fixedly connected to the push rod fixing block 413, which is fixedly connected to the slider 408.

[0053] In some embodiments, the generator inspection robot further includes a plurality of V-shaped guide wheels 115, which are rotatably mounted on a base 114. Specifically, a fixed seat 145 is provided on the base 114. The V-shaped guide wheels 115 are rotatably mounted on the fixed seat 145, and the rotation axis is parallel to the second direction. The V-shaped guide wheels 115 have a V-shaped groove, and the outer disc 131 has an outer edge that can extend into the V-shaped groove. When the turntable rotates around the axis of the second direction, the V-shaped groove can limit the axial displacement of the outer disc 131 (perpendicular to the direction of the rotation axis), preventing the turntable from shaking or deflecting due to axial forces (such as the load of the walking mechanism), thereby ensuring the stability of the turntable's rotation axis. For example, the lateral force generated by the walking mechanism during movement is transmitted to the V-shaped guide wheel 115 through the outer edge, and is offset by the guide wheel support to prevent the turntable from tilting. Multiple V-shaped guide wheels 115 are distributed along the circumference of the turntable (such as 4 symmetrically arranged), and the outer edge of the outer disk 131 contacts multiple guide wheels at the same time, distributing the weight of the turntable and the traveling mechanism to multiple support points, avoiding wear of the guide wheels or the outer edge due to excessive force at a single point; for example, when the traveling mechanism is equipped with detection equipment, the load is transmitted to each guide wheel through the outer edge, forming a distributed support, thereby improving structural reliability.

[0054] In some embodiments, the generator inspection robot further comprises a cover plate, a support 109, and a plurality of followers. The cover plate has a hole in the middle, is positioned above the base 114, and is located on the outer periphery of the outer disk 131. The cover plate and the base 114 are relatively fixed. The support 109 is fixedly mounted on the base 114. A follower is fixedly mounted on the support 109. The inner edge of the cover plate is fixedly mounted with a plurality of followers, and the rotating bodies of the followers are arranged to abut against the upper edge of the outer ring. The rotating bodies of the followers (such as rollers or balls) abut against the upper edge of the outer disk 131. When the turntable rotates, the followers limit the axial displacement (perpendicular to the rotation axis) of the outer disk 131 through rolling friction, preventing the turntable from shaking up and down due to the load of the running mechanism or external forces. The plurality of followers are evenly distributed along the inner ring of the cover plate, forming an annular support, ensuring the stability of the axis of the outer disk 131 during rotation, and preventing detection errors caused by the detection sensor due to turntable offset. The cover plate, located above base 114 and around outer disc 131, prevents dust, oil, and other impurities from the generator from entering the gap between the turntable and base 114. This prevents accumulation of impurities that could affect the turntable's rotation or damage the travel mechanism. If the turntable experiences slight deflection due to manufacturing errors or load variations, the follower rotor automatically adjusts its contact position by rolling, automatically compensating for the deflection and preventing binding caused by rigid support.

[0055] More specifically, the cover plate includes a connecting block cover plate 103, a side cover plate 104, a main cover plate 107, and a sub-cover plate 106. The sub-cover plate 106 covers the worm gear box 118 and the rotating motor 116. The connecting block cover plate 103 covers the top of the side fixing frame. The side cover plate 104 covers the remaining space on one side of the turntable circumferential worm gear box 118. The main cover plate 107 covers the space on the opposite side of the turntable circumferential worm gear box 118. The followers are arranged on the side cover plate 104. Specifically, there are three followers in total: a first follower 110 is arranged on the support 109, and a second follower 111 and a third follower 113 are arranged on the side cover plate 104. The multiple cover plates can achieve relative sealing between the cover plate and the base 114, effectively protecting the internal components of the generator detection robot.

[0056] In some embodiments, the generator detection robot also includes a camera 101, which is fixedly arranged on the side of the first drive device, specifically fixedly arranged on the first support block 108. The camera 101 is fixed on the side of the first drive module 1, and can reach various areas inside the generator (such as the surface of the rotor 6 and the gap between the stator 5 slots) as the module moves; when the telescopic device drives the first drive module 1 to approach or move away from the third drive module 3, the camera 101 can synchronously adjust the distance from the measured part to adapt to the focal length requirements of different detection scenarios (such as close-up fine observation or long-distance global scanning). The turntable of the first drive module 1 can rotate around the second direction axis, driving the camera 101 to rotate synchronously to achieve 360° circumferential viewing angle coverage; for example, when the robot is clamped between the stator and rotor 6, the rotation of the turntable can enable the camera 101 to scan different angles of the rotor 6 winding, avoiding the detection blind spot of the traditional fixed viewing angle.

[0057] In some embodiments, the generator inspection robot further includes a spring cover 133 and a plurality of compression springs 136. The bottom of the compression spring 136 is fixedly mounted on the upper portion of the base 114. The middle portion of the spring cover 133 is provided with an opening through which the travel mechanism can pass. The spring cover 133 is fixedly connected to the top of the compression spring 136. The bottom of the compression spring 136 is fixed to the base 114, and the top is connected to the spring cover 133. The travel mechanism passes through the opening of the spring cover 133 and is connected to the inner disk 132 of the turntable. When the travel mechanism (such as a synchronous belt) contacts an uneven surface area of ​​the stator 5 (such as a protrusion on a silicon steel sheet or an edge of a slot wedge), the compression spring 136 can absorb the impact through compression deformation, thereby preventing the travel mechanism from jamming or vibration of the inspection equipment caused by rigid collisions, and improving the passability of the complex surface. The elastic force of the compression spring 136 ensures that the spring cover 133 drives the running mechanism to always adhere to the surface of the stator 5. Even if the surface has curvature or slight undulations, the synchronous belt can maintain a stable friction drive. For example, when running on the inner surface of the stator 5, the elastic compensation of the compression spring 136 can offset the radial position fluctuations when the turntable rotates, ensuring that the synchronous belt and the surface are in constant contact. Multiple compression springs 136 are evenly arranged along the circumference of the base 114 (e.g., 4 symmetrical ones). The spring cover 133 uses elastic force to distribute the weight of the running mechanism and the detection load to multiple support points, preventing the base 114 from being deformed due to excessive local force. For example, when the detection equipment is installed on the running mechanism, the elastic support of the compression spring 136 can balance the eccentric load and prevent the turntable from tilting.

[0058] In some embodiments, the first driving module 1 is provided with a plurality of first wedge blocks 105 on the side close to the second driving module 2, and the second driving module 2 is provided with a plurality of second wedge blocks 201 on the side close to the first driving module 1. The inclined surface of the first wedge block 105 gradually moves away from the first driving module 1 from top to bottom, and the inclined surface of the second wedge block 201 gradually moves closer to the second driving module 2 from top to bottom. The inclined surface of the first wedge block 105 can fit with the inclined surface of the second wedge block 201. The second driving module 2 is provided with a plurality of The third drive module 3 is provided with a third wedge block 202, and a plurality of fourth wedge blocks 301 are provided on the side of the third drive module 3. The inclined surface of the third wedge block 202 gradually approaches the second drive module 2 from top to bottom, while the inclined surface of the fourth wedge block 301 gradually moves away from the third drive module 3 from top to bottom. The inclined surface of the third wedge block 202 can be aligned with the inclined surface of the fourth wedge block 301. The camera 101 is fixedly provided on the side of the first drive module 1 away from the second drive module 2, and the control interface 302 is fixedly provided on the side of the third drive module 3 away from the second drive module 2. The wedge blocks can serve as guides, ensuring that the second drive module 2 is well guided when it is lifted upward, ensuring movement accuracy and smoothness.

[0059] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A generator inspection robot, characterized by: The invention comprises a detection device, at least three drive modules and a lateral execution module, wherein the detection device is arranged on the drive module, the three drive modules are respectively a first drive module, a second drive module and a third drive module, and the second drive module is located between the first drive module and the third drive module, the lateral execution module comprises a hinged rod and a telescopic device, the two ends of the hinged rod are respectively hinged to the side of the first drive module and the side of the second drive module, the telescopic end of the telescopic device is fixedly connected to the side of the first drive module, and the fixed end of the telescopic device is hinged to the third drive module, and the telescopic end of the telescopic device can drive the first drive module to slide in a first direction to move the second drive module in a second direction, and the first direction is perpendicular to the second direction, the second drive module comprises a base, a turntable and a walking mechanism, the turntable is rotatably arranged on the base, and the turntable can be driven by the first drive mechanism and can rotate around an axis parallel to the second direction, the walking mechanism is arranged in the turntable, and the walking mechanism can be driven by the second drive mechanism and can walk in the plane in the first direction.

2. The generator inspection robot according to claim 1, characterized in that: Each of the driving modules includes a base, a turntable and a walking mechanism.

3. The generator inspection robot according to claim 2, characterized in that: It also includes a worm gear box and a first transmission gear, the turntable includes an inner plate, an outer plate and a chassis, the inner plate is arranged in the outer plate and fixed to the outer plate, the chassis is fixedly arranged on the bottom of the inner plate and the outer plate, the outer ring of the chassis is fixedly sleeved with a ring gear, the worm in the worm gear box is fixedly connected to the output end of the first driving mechanism, the first transmission gear is coaxially arranged and fixedly connected to the worm wheel in the worm gear box, and the first transmission gear is meshed with the ring gear.

4. The generator inspection robot according to claim 1, characterized in that: The walking mechanism includes a driving gear, a driven gear, a driving pulley, a driven pulley and a synchronous belt. The driving gear is fixedly connected to the output end of the second driving mechanism, the driven gear is fixedly arranged at the end of the driving pulley, the driving gear is meshed with the driven gear, and the synchronous belt is sleeved on the driving pulley and the driven pulley.

5. The generator inspection robot according to claim 1, characterized in that: It also includes a first side fixing frame and a second side fixing frame, the first side fixing frame is fixedly connected to the first driving module, the second side fixing frame is fixedly connected to the third driving module, the telescopic device includes a push rod motor, a slide rail and a slider, the push rod motor is fixedly connected to the second side fixing frame, the push rod of the push rod motor is fixedly connected to the slider, the slider is fixedly connected to the first side fixing frame, the slide rail is fixedly arranged on the side of the second side fixing frame, and the slider is slidably connected to the slide rail.

6. The generator inspection robot according to claim 3, characterized in that: It also includes a plurality of V-shaped guide wheels, which are rotatably arranged on the base, and the rotation axis is parallel to the second direction. The V-shaped guide wheel has a V-shaped groove, and the outer disk has an outer edge, and the outer edge can extend into the V-shaped groove.

7. The generator inspection robot according to claim 3, characterized in that: It also includes a cover plate, a support and multiple followers, the cover plate has a hole in the middle, the cover plate is located above the base and on the outer periphery of the outer disk, and the cover plate is relatively fixed to the base, the support is fixed on the base, one of the followers is fixed on the support, multiple followers are fixed on the inner ring edge of the cover plate, and the rotating body of the follower is arranged in contact with the upper edge of the outer ring.

8. The generator inspection robot according to claim 1, characterized in that: It also includes a camera, which is fixedly arranged on the side of the first driving device.

9. The generator inspection robot according to claim 1, characterized in that: It also includes a compression spring cover and multiple compression springs. The bottom of the compression spring is fixedly arranged on the upper part of the base. An opening is arranged in the middle of the compression spring cover. The walking mechanism can pass through the opening. The compression spring cover is fixedly connected to the top of the compression spring.

10. The generator inspection robot according to claim 8, characterized in that: The first driving module is provided with multiple first wedge blocks on the side close to the second driving module, and the second driving module is provided with multiple second wedge blocks on the side close to the first driving module. The inclined surface of the first wedge block gradually moves away from the first driving module from top to bottom, and the inclined surface of the second wedge block gradually approaches the second driving module from top to bottom, and the inclined surface of the first wedge block can be fitted with the inclined surface of the second wedge block. The second driving module is provided with multiple third wedge blocks on the side close to the third driving module, and the third driving module is provided with multiple fourth wedge blocks on the side, the inclined surface of the third wedge block gradually approaches the second driving module from top to bottom, and the inclined surface of the fourth wedge block gradually moves away from the third driving module from top to bottom, and the inclined surface of the third wedge block can be fitted with the inclined surface of the fourth wedge block. The camera is fixedly provided on the side of the first driving module away from the second driving module, and the control interface is fixedly provided on the side of the third driving module away from the second driving module.

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