Carrying robot

Abstract

The utility model relates to a carrying robot which comprises a carrying body, an adsorption assembly and a moving assembly, the carrying body is used for bearing detection equipment, the adsorption assembly comprises at least one magnetic part arranged on the carrying body, the magnetic part is used for being connected with a to-be-detected part in a magnetic attraction mode, and the moving assembly is arranged on the carrying body. The moving assembly is used for driving the carrying body to move relative to the to-be-detected piece in the first direction. The carrying robot enters the to-be-detected piece through autonomous movement of the moving assembly and moves on the to-be-detected piece, meanwhile, the carrying robot is adsorbed into the to-be-detected piece through the adsorption assembly, the carrying robot moves in the to-be-detected piece, the to-be-detected piece is detected through the carrying body bearing detection equipment, and the to-be-detected piece is disassembled and detected. The convenience of generator maintenance is improved, and the maintenance time is saved.

Description

Technical Field

[0001] The present application relates to the technical field of detection robots, and in particular to a transport robot. Background Art

[0002] For large generators, the operating generators are subjected to harsh working conditions, which inevitably cause deterioration and damage to the generator structure, especially the stator and rotor parts as the main power generation components. In order to prevent the serious consequences of damage to the main structure of the generator, its internal key components must be regularly overhauled.

[0003] When a generator is overhauled, the stator and rotor of the generator need to be inspected and repaired. The rotor is inserted into the stator. In the related art, when the stator and rotor of the generator are overhauled, the rotor is usually pulled out from the stator to inspect and repair the stator and rotor separately. The stator and rotor have large mass, and the operation is very complicated and difficult, and the overhaul takes a long time. Utility Model Content

[0004] Based on this, it is necessary to provide a transport robot to address the problem in the related technology that the generator maintenance operation is very complicated and difficult, and the maintenance takes a long time.

[0005] A transport robot, comprising:

[0006] The carrier body is used to carry the testing equipment;

[0007] An adsorption component, comprising at least one magnetic component provided on the carrier body, the magnetic component being used for magnetically connecting with the to-be-detected component; and

[0008] A moving component is disposed on the carrier body, and is used to drive the carrier body to move relative to the to-be-detected component along a first direction.

[0009] In one embodiment, the transport robot comprises two moving components and a controller, and the two moving components are respectively disposed on opposite sides of the transport body along the second direction;

[0010] The controller is electrically connected to the two moving components to respectively adjust the driving power of the two moving components;

[0011] The first direction and the second direction intersect each other.

[0012] In one embodiment, the transport robot includes two groups of the adsorption components, which are respectively arranged on opposite sides of the transport body along the second direction and correspond one-to-one to the two moving components.

[0013] In one embodiment, the moving assembly includes a track wheel and a moving drive member, and the track wheel is provided on the carrier body;

[0014] The mobile driving member is transmission-connected to the track wheel and is used to drive the track wheel to rotate, so as to drive the carrier body to move relative to the to-be-detected member along the first direction.

[0015] In one of the embodiments, the transport robot further includes a skateboard;

[0016] The track wheel is arranged around the outer periphery of the adsorption component, and the slide plate is arranged between the adsorption component and the moving component;

[0017] The slide plate comprises a smooth surface, and the smooth surface is arranged toward the inner wall of the track of the track wheel.

[0018] In one embodiment, the track wheel includes a driving wheel, a driven wheel, and a track that transmission-connects the driving wheel and the driven wheel;

[0019] The moving assembly also includes a transmission assembly,

[0020] The transmission assembly includes a first transmission gear connected to the output end of the mobile driving member, and a second transmission gear meshing with the first transmission gear.

[0021] The second transmission gear is in transmission connection with the driving wheel.

[0022] In one of the embodiments, the transport robot further includes an encoder;

[0023] The encoder comprises a rotary encoder provided on the carrier body, so as to obtain the displacement of the carrier body along the first direction; or

[0024] The encoder is connected to the output shaft of the moving drive member to obtain the displacement of the carrier body along the first direction; or

[0025] The encoder is connected to the driven wheel of the track wheel to obtain the displacement of the carrier body along the first direction.

[0026] In one embodiment, the transport robot further includes a driving component and an adjustment unit, and the driving component includes the moving component and the adsorption component;

[0027] The adjustment unit is connected between the carrier body and the driving assembly, and is configured to enable the driving assembly and the carrier body to be connected at a preset angle so that the driving assembly and the carrier body are arranged around the part to be detected.

[0028] In one of the embodiments, the adjustment unit comprises a mounting block, wherein the mounting block is connected between the carrier body and the drive assembly;

[0029] The mounting block comprises a first mounting surface and a second mounting surface, the first mounting surface is connected to the carrier body, and the second mounting surface is connected to the drive assembly;

[0030] The first mounting surface and the second mounting surface are tilted at a preset angle, so that the driving component is connected to the carrier body tilted at the preset angle.

[0031] In one embodiment, the adjustment unit includes a mounting member, which is provided on one of the carrier body and the drive assembly and is rotatably connected to the other of the carrier body and the drive assembly around an axis parallel to the first direction.

[0032] The above-mentioned carrying robot enters the part to be inspected and moves on the part to be inspected through the autonomous movement of the moving component, and is adsorbed on the part to be inspected through the adsorption component to prevent the carrying body from falling off from the part to be inspected, thereby realizing the movement of the carrying robot on the part to be inspected, and inspects the part to be inspected by carrying the inspection equipment through the carrying body, without the need to disassemble the part to be inspected for inspection, thereby improving the convenience of generator maintenance and saving maintenance time. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] FIG1 is a schematic structural diagram of a transport robot of the present application.

[0034] FIG. 2 is a schematic diagram of the structure of the iron core and slot wedges of the stator of the engine of the present application.

[0035] FIG. 3 is a cross-sectional view of the transport robot shown in FIG. 1 .

[0036] FIG. 4 is a schematic structural diagram of the moving assembly shown in FIG. 1 .

[0037] FIG. 5 is a schematic diagram of the structure of the mobile assembly shown in FIG. 1 without track wheels.

[0038] FIG. 6 is a schematic diagram of the structure of the carrier robot shown in FIG. 1 with the shell removed.

[0039] FIG. 7 is a schematic structural diagram of another embodiment of the transport robot of the present application.

[0040] FIG8 is an enlarged view of point N shown in FIG6 .

[0041] FIG. 9 is a schematic structural diagram of the adjustment unit of the embodiment shown in FIG. 7 .

[0042] FIG. 10 is a side view of the adjustment unit of the embodiment shown in FIG. 7 .

[0043] FIG. 11 is a schematic structural diagram of another embodiment of the transport robot of the present application.

[0044] Description of reference numerals:

[0045] 100, carrier robot; 110, carrier body; 111, receiving groove; 112, anti-collision block; 113, protection plate 113; 120, adsorption assembly; 121, magnetic member; 130, moving assembly; 131, crawler; 132, driving wheel; 133, driven wheel; 134, moving driving member; 140, slide plate; 150, transmission assembly; 151, first transmission gear; 152, second transmission gear; 160, camera; 170, electrical control box; 180, lighting lamp; 190, cam;

[0046] 300, encoder; 500, mounting interface; 600, adjustment unit; 610, mounting member; 620, mounting block; 621, first mounting surface; 622, second mounting surface;

[0047] 710, position detector; 810, iron core; 820, slot wedge;

[0048] F1, first direction; F2, second direction. DETAILED DESCRIPTION

[0049] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0050] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0051] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0052] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0053] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0054] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0055] During the engine overhaul, the stator and rotor of the engine need to be regularly inspected. In the relevant technology, the rotor with a diameter of more than 2 meters, a length of about 15.38 meters, and a weight of about 244 tons is usually pulled out from the stator. The maintenance personnel then enter the stator chamber to inspect the stator, and then inspect the pulled out rotor to complete a series of inspections and tests.

[0056] The above maintenance method requires the removal of a large number of parts and takes a long time. Pulling out the rotor for maintenance usually takes an additional 5 days or so, and a large area needs to be occupied when pulling out the rotor, which requires a lot of manpower and material resources. Due to the large mass of the stator and rotor, pulling out the rotor for maintenance is a high-risk operation, which is easy to cause danger to the operator who pulls out the rotor, and it is easy to damage the equipment. The rotor is 15.38 meters long and 2 meters in diameter. The minimum air gap between it and the stator is only 58mm. In the process of pulling out the rotor, it is easy to collide and cause other problems to damage the engine and other equipment. It is understandable that pulling out the rotor for maintenance is very complicated and difficult to operate, and the maintenance takes a long time.

[0057] Based on the above problems, the present application provides a carrying robot 100, which can carry the detection equipment into the part to be detected and inspect the part to be detected. In some embodiments, the part to be detected is an engine, and the engine includes a rotor and a stator arranged outside the rotor. The carrying robot 100 can carry the detection equipment between the stator and the rotor of the engine, and inspect the stator and the rotor of the engine by transporting the detection equipment between the stator and the rotor, without pulling out the rotor to inspect the stator and the rotor separately, thereby saving the time required for pulling out the rotor, and improving the convenience of generator maintenance, reducing the danger to the operator and the risk of easy damage to the equipment.

[0058] Referring to FIG. 1 , FIG. 2 and FIG. 3 , the carrier robot 100 includes a carrier body 110, an adsorption assembly 120 and a moving assembly 130. The carrier body 110 is used to carry the detection equipment. In some embodiments, the carrier body 110 is provided with a receiving groove 111, and the receiving groove 111 is used to accommodate the detection equipment. The adsorption assembly 120 includes at least one magnetic member 121 provided on the carrier body 110, and the magnetic member 121 is used to be magnetically connected with the device to be detected, or the magnetic member 121 is used to be magnetically connected with the stator or rotor of the engine, so that the carrier robot 100 will not fall off when it is on the arc-shaped inner ring of the stator or on the arc-shaped outer ring of the rotor, and will not be detached from the stator or rotor. The moving assembly 130 is disposed on the carrier body 110, and is used to drive the carrier body 110 to move relative to the to-be-detected part along the first direction F1, or in other words, the moving assembly 130 is used to drive the carrier body 110 to move between the stator and the rotor along the first direction F1, wherein the first direction F1 is parallel to the axial direction of the stator or rotor of the engine. The moving assembly 130 drives the carrier body 110 to drive the detection device to move from one end of the engine to the other end of the engine, and so on, to detect various parts of the stator or rotor.

[0059] With reference to FIG. 2 , it can be understood that the inner ring of the stator of the engine is a first iron core and a slot wedge 820 extending in the first direction F1, that is, a magnetic first iron core, a non-magnetic slot wedge 820, a magnetic first iron core, a non-magnetic slot wedge 820, a magnetic first iron core, etc. are arranged in this order, and two adjacent first iron cores are arranged with slot wedges 820. Similarly, the outer ring of the rotor of the engine is a magnetic second iron core, a non-magnetic slot wedge 820, a magnetic second iron core, a non-magnetic slot wedge 820, a magnetic second iron core, etc. are arranged in this order, and two adjacent second iron cores are arranged with slot wedges 820, wherein the second iron core and the slot wedge 820 are both extended in the first direction F1. The adsorption component 120 is adsorbed on the first iron core or the second iron core, so that the carrier robot 100 can be adsorbed on different first iron cores or different second iron cores and move along the first direction F1, thereby detecting different positions on the stator or rotor.

[0060] The carrier robot 100 of the present application autonomously moves into between the rotor and the stator and moves on the rotor or the stator through the moving component 130, and at the same time, is adsorbed on the surface of the stator or the rotor through the adsorption component 120 to prevent the carrier body 110 from falling off the stator or the rotor, thereby enabling the carrier robot 100 to move on the stator or the rotor of the engine, or in other words, to move between the stator and the rotor, and to carry the detection equipment through the carrier body 110 to detect the stator or the rotor without pulling the rotor out of the stator, thereby improving the convenience of generator maintenance and saving maintenance time.

[0061] Referring to FIG. 1 and FIG. 3 , the carrier robot 100 includes two moving components 130 and a controller. The two moving components 130 are respectively arranged on opposite sides of the carrier body 110 along the second direction F2, wherein the first direction F1 and the second direction F2 intersect each other. The two moving components 130 can improve the driving stability of the carrier body 110 and improve the moving efficiency. It can be understood that the carrier body 110 spans a non-magnetic slot wedge 820, and the two moving components 130 respectively arranged on opposite sides of the carrier body 110 along the second direction F2 correspond to the two iron cores 810 on both sides of the slot wedge 820, thereby improving the driving stability of the carrier body 110.

[0062] The controller is electrically connected to the two moving components 130 to adjust the driving power of the two moving components 130 respectively, so that when the carrying robot 100 yaws, the driving power of the two moving components 130 can be adjusted respectively by the controller to make the carrying robot 100 return to the normal path.

[0063] As shown in FIG3 , the carrier robot 100 includes two groups of adsorption components 120, which are respectively arranged on opposite sides of the carrier body 110 along the second direction F2, and correspond one to one with the two moving components 130. It can be understood that the carrier body 110 spans a non-magnetic slot wedge 820, and the two groups of adsorption components 120 arranged on opposite sides of the carrier body 110 along the second direction F2 are respectively magnetically attracted to the two iron cores 810 on both sides of the corresponding slot wedge 820, thereby improving the magnetic attraction stability of the carrier body 110 on the stator or rotor, and reducing the risk of the carrier body 110 falling off the stator or rotor to damage the carrier robot 100.

[0064] 4 and 5 , the mobile assembly 130 includes a track wheel and a mobile driving member 134. The track wheel is disposed on the carrier body 110. The mobile driving member 134 is transmission-connected to the track wheel and is used to drive the track wheel to rotate, so as to drive the carrier body 110 to move along the first direction F1 relative to the part to be detected. In other words, the mobile driving member 134 drives the track wheel to rotate, thereby driving the carrier body 110 to move between the stator and the rotor along the first direction F1, thereby realizing the autonomous movement of the carrier robot 100.

[0065] In some embodiments, the track wheel is arranged around the periphery of the adsorption component, that is, the track wheel ring is arranged on the magnetic part 121. The track wheel ring is arranged on the magnetic part 121 to facilitate the miniaturization design of the transport robot 100, which is conducive to being suitable for working conditions in the narrow space between the stator and the rotor.

[0066] In some embodiments, as shown in FIG3 , the transport robot 100 further includes a slide plate 140, which is disposed between the adsorption component 120 and the moving component 130, and includes a smooth surface, which is disposed toward the inner wall of the track 131 of the track wheel. In order to reduce the friction of the moving component 130, in some embodiments, the slide plate 140 is disposed between the track wheel and the magnetic component 121, so as to reduce the friction of the track wheel and improve the driving efficiency of the track wheel. In some embodiments, the slide plate 140 is made of a smooth material.

[0067] In some embodiments, the skateboard 140 is provided with an opening for exposing the magnetic component 121 to avoid the skateboard 140 weakening the adsorption force of the magnetic component 121, that is, the above-mentioned opening on the skateboard 140 can reduce the friction of the movement of the track wheel without affecting the adsorption of the magnetic component 121 on the stator or rotor.

[0068] In some embodiments, the carrier robot 100 also includes a cam 190 disposed on the carrier body 110. The cam 190 is used to abut between the carrier body 110 and the slot wedge 820 when the carrier robot 100 moves on the stator or rotor, so that there is a gap between the carrier body 110 and the slot wedge 820, thereby avoiding direct contact and scratching between the carrier body 110 and the slot wedge 820 when the carrier body 110 moves, thereby avoiding damage to the carrier robot 100 and the slot wedge 820, and the cam 190 can rotate relative to the carrier body 110. When the carrier robot 100 moves along the first direction F1, the cam 190 rotates accordingly without affecting the movement of the carrier robot 100.

[0069] Referring to Fig. 4 and Fig. 5, the track wheel comprises a driving wheel 132, a driven wheel 133 and a track 131 which is connected to the driving wheel 132 and the driven wheel 133, and the driving wheel 132 transmits a driving force, which can drive the track 131 and the transmission wheel to rotate. The mobile assembly 130 also comprises a transmission assembly 150, which comprises a first transmission gear 151 connected to the output end of the mobile driving member 134, and a second transmission gear 152 meshingly connected to the first transmission gear 151, and the second transmission gear 152 is connected to the driving wheel 132. It can be understood that the driving force output by the mobile driving member 134 is transmitted to the driving wheel 132 through the first transmission gear 151 and the second transmission gear 152, and then the driving wheel 132 drives the track 131 and the driven wheel 133 to rotate, so as to realize the driving of the track wheel by the mobile driving member 134.

[0070] In some embodiments, the transport robot 100 further includes an encoder 300 to assist the transport robot 100 in autonomous movement.

[0071] As shown in FIG. 6 , the encoder 300 includes a rotary encoder disposed on the carrier body 110 for obtaining the displacement of the carrier body 110 along the first direction F1 . As the carrier body 110 moves, the rotary encoder moves synchronously to obtain the displacement of the carrier body 110 .

[0072] As shown in Figures 4 and 5, the encoder 300 can also be connected to the output shaft of the mobile driving member 134 to obtain the displacement of the carrier body 110 along the first direction F1. At this time, the encoder 300 can convert and obtain the displacement of the corresponding track wheel driven carrier body 110 according to the output of the mobile driving member 134.

[0073] In some embodiments, the encoder 300 can also be connected to the driven wheel 133 of the track wheel to obtain the displacement of the carrier body 110 along the first direction F1, that is, the displacement of the carrier body 110 driven by the corresponding track wheel is converted according to the rotation of the driven wheel 133.

[0074] As shown in Figures 6 and 7, the carrier robot 100 also includes a driving component and an adjustment unit 600, wherein the driving component includes the above-mentioned moving component 130 and adsorption component 120, and is used to drive the carrier body 110 to move between the stator and the rotor along the first direction F1. The adjustment unit 600 is connected between the carrier body 110 and the driving component, and is configured to enable the driving component and the carrier body 110 to be connected at a preset angle, so that the driving component and the carrier body 110 are arranged around the part to be detected or the rotor of the engine, wherein the first direction F1 is parallel to the axial direction of the stator or rotor of the engine. It can be understood that the inner ring of the stator and the outer ring of the rotor are both arranged in an arc shape, and the arrangement of the adjustment unit 600 enables the carrier robot 100 as a whole to be in a preset arc to better fit the stator or rotor. The carrying robot 100 is adjusted by the adjustment unit 600 so that the driving component and the carrying body 110 are connected at a preset angle, so that the driving component and the carrying body 110 are arranged around the rotor, so that the connection between the driving component and the carrying body 110 can adapt to the curvature of the rotor or stator surface, thereby improving the autonomous adjustability of the carrying robot 100 and making it suitable for more complex maintenance environments.

[0075] It can be understood that the driving assembly also includes a driving body, the driving wheel 132 and the driven wheel 133 of the track wheel of the moving assembly 130 are rotatably arranged on the driving body along a first direction, the adsorption assembly 120 is arranged on the driving body, and the track wheel ring is arranged on the outer periphery of the adsorption assembly 120, and the adjustment unit 600 is connected between the carrier body 110 and the driving body, that is, one end of the adjustment unit 600 is connected to the carrier body 110, and the other end of the adjustment unit 600 is connected to the driving body, and the adjustment unit 600 is indirectly connected to the driving assembly through the connection with the driving body.

[0076] In some embodiments, as shown in FIG. 6 and FIG. 8 , the adjustment unit 600 includes a mounting member 610, which is disposed on one of the carrier body 110 and the drive assembly, and is rotatably connected to the other of the carrier body 110 and the drive assembly around an axis parallel to the first direction F1. In some embodiments, one end of the mounting member 610 is connected to the carrier body 110, and the other end is specifically connected to one end of the drive body along the first direction F1. That is, the mounting member 610 is rotatably connected to the carrier body 110 and the drive assembly, respectively, and the mounting member 610 can rotate relative to the carrier body 110 and the drive assembly, respectively, so that the carrier body 110 and the drive assembly can rotate relative to each other, so that the two can rotate to a preset angle. This enables the carrier robot 100 to fit onto the stator or rotor, and the mounting member 610 enables relative rotation between the carrier body 110 and the drive assembly so that the carrier body 110 and the drive assembly can be at different angles and fit onto stators and rotors of different sizes, thus being suitable for detecting stators and rotors of different sizes.

[0077] In some embodiments, as shown in FIGS. 4, 7, 9 and 10, the adjustment unit 600 includes a mounting block 620, the mounting block 620 is connected between the carrier body 110 and the drive assembly, and the mounting block 620 includes a first mounting surface 621 and a second mounting surface 622 that are arranged opposite to each other, the first mounting surface 621 is connected to the carrier body 110, and the second mounting surface 622 is connected to the drive assembly. The first mounting surface 621 and the second mounting surface 622 are arranged at a preset angle so that the drive assembly is connected to the carrier body 110 at an inclined angle at a preset angle, so that the carrier robot 100 as a whole can be in a preset curvature to fit the inner ring of the stator or the outer ring of the rotor. In some embodiments, one end of the mounting block 620 is connected to the carrier body 110, and the other end is specifically connected to the side of the drive body facing the carrier body 110 along the second direction F2.

[0078] Referring to FIG. 3 , in some embodiments, the carrier robot 100 further includes an automatic control unit, which includes a controller and at least two position detectors 710. The at least two position detectors 710 are respectively arranged on opposite sides of the carrier body 110 along the second direction F2 to detect whether the carrier robot 100 is moving on a preset track. For example, the carrier body 110 of the carrier robot 100 spans a non-magnetic slot wedge 820. Two driving components respectively arranged on opposite sides of the carrier body 110 along the second direction F2 correspond to two iron cores 810 on both sides of the slot wedge 820. The position detectors 710 arranged on opposite sides of the carrier body 110 along the second direction F2 can detect whether the carrier body 110 is still located at the corresponding position of the slot wedge 820.

[0079] In some embodiments, the position detector 710 is configured as a metal sensor. It can be understood that if the carrier body 110 is still located at the corresponding slot wedge 820, the metal sensor is located at the slot wedge 820, and if the carrier body 110 is yawed, when the carrier body 110 is yawed onto the iron core 810, the metal sensor detects the metal and sends a signal, thereby being able to detect whether the carrier body 110 is yawed.

[0080] The controller is electrically connected to all driving components and all position detectors 710 respectively, and can receive detection signals emitted by all position detectors 710, and preliminarily determine how the carrier robot 100 yaws and which direction it deviates to based on the position detector 710 that emits the signal. It can be understood that the carrier robot 100 is calibrated front and back along the first direction F1, and the carrier robot 100 is calibrated left and right along the second direction F2. If the carrier robot 100 yaws toward the right side, the position detector 710 located on the right side of the carrier body 110 along the second direction F2 will first deviate from the slot wedge 820 to the iron core 810, and it will first detect the metal and send a signal. If the carrier robot 100 yaws toward the left side, the position detector 710 located on the left side of the carrier body 110 along the second direction F2 will first deviate from the slot wedge 820 to the iron core 810, and it will first detect the metal and send a signal. Therefore, based on the signals emitted by all the above-mentioned position detectors 710, it can be determined which direction the carrier robot 100 is yawing. The encoder 300 is used in conjunction with the position detector 710 to obtain the specific yaw displacement of the carrier robot 100.

[0081] Then, the controller controls and adjusts the driving power of the two drive components according to the position signal detected by the position detector 710, so that the carrier robot 100 returns to the normal path. It can be understood that if the carrier robot 100 yaws toward the right, the controller relatively controls the two drive components so that the driving power of the drive components on the right is higher than the driving power of the drive components on the left, so that the carrier robot 100 moves toward the left and returns to the right track. If the carrier robot 100 yaws toward the left, the controller relatively controls the two drive components so that the driving power of the drive components on the left is higher than the driving power of the drive components on the right, so that the carrier robot 100 moves toward the right and returns to the right track.

[0082] In some embodiments, as shown in FIG. 1 and FIG. 7 , the carrier robot 100 further includes a camera 160 and a lighting lamp 180 disposed at one end of the carrier body 110 along the first direction F1, and the camera 160 and the lighting lamp 180 are configured to be movably disposed on the carrier body 110 so as to be able to achieve a certain angle of yaw motion in the pitch or left and right directions so as to be able to observe the surface of the stator and rotor in detail. When the carrier robot 100 moves autonomously through the track wheels, it can sense whether the movement of the robot is offset based on the image recorded in real time by the camera 160 and subsequent image processing. If an offset occurs, the offset signal is fed back to the controller, and the controller controls the speed difference of the two groups of moving components 130 to realize the steering movement of the carrier robot 100, and controls the carrier robot 100 to return to the right track, thereby realizing its deviation correction function.

[0083] In some embodiments, microphones are provided on both sides of the carrier body 110 along the second direction F2 to collect sound signals around the carrier robot 100 in real time, and the operator can judge the state of the robot's operation based on the video and audio information.

[0084] In some embodiments, as shown in FIG. 11 , an electrical control box 170 is provided at one end of the carrier body 110 along the first direction F1 away from the camera 160 and the lighting fixture 180 , which mainly integrates a controller and various driving and analysis circuits, such as a track wheel drive unit, and video and audio acquisition and analysis circuits.

[0085] In some embodiments, as shown in FIG. 7 , electrical control boxes 170 are provided at both ends of the carrier body 110 along the first direction F1, so as to make full use of the space at both ends of the carrier body 110 along the first direction F1, and facilitate the miniaturization design of the carrier robot 100. For example, the video and audio acquisition and analysis circuits are placed at one end close to the camera 160 and the lighting lamp 180, and the controller is placed at the end away from the camera 160 and the lighting lamp 180, so as to shorten the lines between the video and audio acquisition and analysis circuits and the camera 160 and the lighting lamp 180, save lines and facilitate the miniaturization design, and make full use of the space of the carrier body 110, so as to reduce the thickness of the carrier robot 100 and realize the miniaturization design.

[0086] In some embodiments, as shown in FIG. 11 , the carrier body 110 is hollow in design, or the carrier body 110 defines a receiving groove 111 for accommodating the detection equipment, and an installation interface 500 is provided inside the receiving groove 111 for installing various maintenance equipment.

[0087] In some embodiments, the detection equipment carried by the carrier body 110 includes a high-definition video inspection tool, an electromagnetic core defect detection (ELCID) tool, a stator slot wedge tightness detection (WTD) tool, a stator and rotor ventilation hole cleaning tool, etc., which can perform maintenance on the stator and rotor of the generator and complete maintenance tasks such as core defect detection test, slot wedge looseness inspection test, stator and rotor surface defect inspection, stator and rotor ventilation hole blockage inspection, and stator and rotor surface cleaning.

[0088] In some embodiments, the overall thickness of the carrier robot 100 does not exceed 40 mm, and can penetrate into the narrow gap between the stator and rotor of the generator.

[0089] In some embodiments, as shown in FIG. 7 , the carrier robot 100 is provided with anti-collision blocks 112 at both ends along the first direction F1 and protective plates 113 at both sides along the second direction F2 to protect the surroundings of the carrier robot 100 and reduce the risk of collision and damage to the carrier robot 100 .

[0090] The carrier robot 100 of the present application moves autonomously between the rotor and the stator through the moving component 130 and moves on the rotor or stator. At the same time, the adsorption component 120 is adsorbed on the surface of the stator or the rotor to prevent the carrier body 110 from falling off the stator or the rotor, thereby realizing the movement of the carrier robot 100 on the stator or the rotor of the engine, or in other words, realizing its movement between the stator and the rotor, and carrying the detection equipment through the carrier body 110 to detect the stator or the rotor without pulling the rotor out of the stator, thereby improving the convenience of generator maintenance and saving maintenance time. At the same time, the adjustment unit 600 is adjusted to make the drive component and the carrier body 110 connected at a preset angle, so that the drive component and the carrier body 110 are arranged around the rotor, so that the connection between the drive component and the carrier body 110 can adapt to the curvature of the rotor or stator surface, thereby improving the autonomous adjustability of the carrier robot 100 and making it suitable for more complex maintenance environments. In cooperation with the controller of the automatic control unit and at least two position detectors 710, it is possible to timely detect whether the transport robot 100 is moving on a preset track, and to perform timely driving intervention on the deviated transport robot 100 to bring it back on track.

[0091] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0092] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A transport robot, characterized in that: The transport robot comprises: The carrier body is used to carry the testing equipment; An adsorption component, comprising at least one magnetic component provided on the carrier body, the magnetic component being used for magnetically connecting with the to-be-detected component; and A moving component is disposed on the carrier body, and is used to drive the carrier body to move relative to the to-be-detected component along a first direction.

2. The transport robot according to claim 1, characterized in that: The transport robot comprises two moving components and a controller, and the two moving components are respectively arranged on opposite sides of the transport body along the second direction; The controller is electrically connected to the two moving components to respectively adjust the driving power of the two moving components; The first direction and the second direction intersect each other.

3. The transport robot according to claim 2, characterized in that: The transport robot comprises two groups of adsorption components, which are respectively arranged on opposite sides of the transport body along the second direction and correspond one-to-one to the two moving components.

4. The transport robot according to claim 1, characterized in that: The moving assembly includes a track wheel and a moving driving member, wherein the track wheel is arranged on the carrying body; The mobile driving member is transmission-connected to the track wheel and is used to drive the track wheel to rotate, so as to drive the carrier body to move relative to the to-be-detected member along the first direction.

5. The transport robot according to claim 4, characterized in that: The transport robot further comprises a skateboard; The track wheel is arranged around the outer periphery of the adsorption component, and the slide plate is arranged between the adsorption component and the moving component; The slide plate comprises a smooth surface, and the smooth surface is arranged toward the inner wall of the track of the track wheel.

6. The transport robot according to claim 4, characterized in that: The track wheel comprises a driving wheel, a driven wheel and a track that is transmission-connected to the driving wheel and the driven wheel, and the mobile driving member is transmission-connected to the driving wheel; The moving assembly also includes a transmission assembly, which includes a first transmission gear connected to the output end of the moving drive member, and a second transmission gear meshingly connected to the first transmission gear, and the second transmission gear is transmission-connected to the driving wheel.

7. The transport robot according to claim 4, characterized in that: The transport robot further includes an encoder; The encoder comprises a rotary encoder provided on the carrier body, so as to obtain the displacement of the carrier body along the first direction; or The encoder is connected to the output shaft of the moving drive member to obtain the displacement of the carrier body along the first direction; or The encoder is connected to the driven wheel of the track wheel to obtain the displacement of the carrier body along the first direction.

8. The transport robot according to claim 1, characterized in that: The transport robot further comprises a driving component and an adjustment unit, wherein the driving component comprises the moving component and the adsorption component; The adjustment unit is connected between the carrier body and the driving assembly, and is configured to enable the driving assembly and the carrier body to be connected at a preset angle so that the driving assembly and the carrier body are arranged around the part to be detected.

9. The transport robot according to claim 8, characterized in that: The adjustment unit includes a mounting block connected between the carrier body and the drive assembly; The mounting block comprises a first mounting surface and a second mounting surface, the first mounting surface is connected to the carrier body, and the second mounting surface is connected to the drive assembly; The first mounting surface and the second mounting surface are tilted at a preset angle, so that the driving component is connected to the carrier body tilted at the preset angle.

10. The transport robot according to claim 8, characterized in that: The adjustment unit includes a mounting member, which is disposed on one of the carrier body and the driving assembly and is rotatably connected to the other of the carrier body and the driving assembly around an axis parallel to the first direction.

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