Carrying system

Abstract

The utility model relates to a carrying system, the carrying system comprises a carrying robot and a power assembly, the carrying robot comprises a carrying body and an adsorption assembly, the carrying body is used for bearing detection equipment, the adsorption assembly is arranged on the carrying body and is used for being in magnetic attraction connection with a to-be-detected piece, and the power assembly is connected to the carrying body. The carrying robot is driven to move in the first direction. According to the carrying system, the power assembly drives the carrying body to enter the to-be-detected piece, meanwhile, the adsorption assembly is adsorbed to the to-be-detected piece, then the power assembly is combined to achieve movement of the carrying system on the to-be-detected piece, the carrying body bears the detection equipment to detect the to-be-detected piece, and the to-be-detected piece does not need to be disassembled and detected; the convenience of overhauling the to-be-detected part is improved, and the overhauling time is saved.

Description

Technical Field

[0001] The present application relates to the technical field of detection robots, and in particular to a transport system. 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 system to address the problem in the related art that the generator maintenance operation is very complicated and difficult, and the maintenance takes a long time.

[0005] A transport system for transporting a testing device into a piece to be tested, the transport system comprising:

[0006] A carrier robot, the carrier robot comprising a carrier body and an adsorption component, the carrier body being used to carry a detection device, the adsorption component being arranged on the carrier body and being used to be magnetically connected to a to-be-detected object; and

[0007] A power assembly is connected to the carrier body to drive the carrier robot to move along a first direction.

[0008] In one embodiment, the power assembly includes a first driving member and a pulling member, one end of the pulling member is connected to the first driving member, and the other end of the pulling member is passed through the part to be detected along the first direction and connected to the carrier body located in the part to be detected, so that the carrier robot can move along the first direction under the drive of the first driving member.

[0009] In one embodiment, the power assembly further includes a winding disk and a release disk, one end of the pulling member is wound on the winding disk, and the other end of the pulling member passes through the carrier body and is wound on the release disk;

[0010] The first driving member is connected to the winding disk and the releasing disk respectively to drive the winding disk to wind up the pulling member and drive the releasing disk to release the pulling member.

[0011] In one embodiment, the carrier body includes a main body portion and a connecting portion provided on the main body portion;

[0012] The main body has a receiving groove for receiving the detection device;

[0013] The other end of the pulling member passes through the connecting portion and is wound around the release disk.

[0014] In one embodiment, the power assembly further includes at least two locking members, the locking members are clamped on the pulling member, and the at least two locking members are respectively limited to two sides of the connecting portion along the first direction.

[0015] In one embodiment, the carrier system includes two groups of the power components, which are arranged at intervals along the second direction and are respectively connected to opposite sides of the carrier body along the second direction;

[0016] The first direction and the second direction intersect each other.

[0017] In one embodiment, the adsorption assembly includes at least two magnetic members, and the magnetic members are used to be magnetically connected to the member to be detected;

[0018] At least two magnetic components are arranged on the carrier body at intervals along the first direction.

[0019] In one of the embodiments, the transport robot further includes a moving component, wherein the moving component includes a track wheel disposed on the transport body, and the track wheel ring is disposed on the outer periphery of the magnetic component.

[0020] In one embodiment, the moving assembly further includes a moving driving member disposed on the carrier body, and the moving driving member is transmission-connected to the track wheel to drive the track wheel to rotate, thereby indirectly driving the carrier body to move along the first direction.

[0021] In one of the embodiments, the transport robot further includes a slide plate, and the slide plate is arranged between the magnetic member and the track wheel.

[0022] The above-mentioned carrying system drives the carrying body into the part to be inspected through the power component, and at the same time adsorbs the carrying body to the part to be inspected through the adsorption component to prevent the carrying body from falling off the part to be inspected, and then combines with the power component to realize the movement of the carrying system on the part to be inspected, and inspects the part to be inspected by carrying the detection equipment through the carrying body without disassembling the part to be inspected, thereby improving the convenience of maintenance of the part to be inspected and saving maintenance time. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] FIG1 is a schematic structural diagram of a transport system of the present application.

[0024] 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.

[0025] FIG. 3 is an enlarged view of point A in FIG. 1 .

[0026] FIG. 4 is a schematic diagram showing the connection between the carrier robot and the connector of the present application.

[0027] FIG5 is a schematic diagram of the structure of the transport robot of the present application.

[0028] FIG. 6 is a cross-sectional view of the transport robot shown in FIG. 5 .

[0029] FIG. 7 is a schematic structural diagram of the moving assembly shown in FIG. 5 .

[0030] FIG. 8 is a schematic diagram of the structure of the mobile assembly shown in FIG. 5 without tracks.

[0031] FIG. 9 is a schematic diagram of the structure of the carrier robot shown in FIG. 5 with the shell removed.

[0032] FIG. 10 is a schematic structural diagram of another embodiment of the transport robot of the present application.

[0033] Description of reference numerals:

[0034] 10. Delivery system;

[0035] 100, carrier robot; 110, carrier body; 111, receiving groove; 112, anti-collision block; 113, protection plate; 120, adsorption assembly; 121, magnetic member; 130, moving assembly; 131, crawler; 132, driving wheel; 133, driven wheel; 134, moving driving member; 140, skateboard; 150, transmission assembly; 151, first transmission gear; 152, second transmission gear; 160, camera; 170, electrical control box; 180, lighting lamp; 190, cam;

[0036] 200, power assembly; 210, pulling member; 220, first driving member; 230, supporting body; 231, annular guide rail; 232, rotating driving member;

[0037] 300, encoder; 410, connection part; 420, locking member; 500, mounting interface; 20, stator; 30, rotor; 810, iron core; 820, slot wedge;

[0038] F1, first direction; F2, second direction. DETAILED DESCRIPTION

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] Based on the above problems, as shown in Figure 1, the present application provides a transport system 10, which can carry the detection equipment into the part to be detected to detect the part to be detected. In some embodiments, the part to be detected is an engine, and the engine includes a rotor 30 and a stator 20 sleeved outside the rotor 30. The transport system 10 can carry the detection equipment between the stator 20 and the rotor 30 of the engine, and inspect the stator 20 and the rotor 30 of the engine by transporting the detection equipment between the stator 20 and the rotor 30, without pulling out the rotor 30 to inspect the stator 20 and the rotor 30 respectively, thereby saving the time required for pulling through the rotor 30, and improving the convenience of generator maintenance, reducing the danger to operators and the risk of easy damage to equipment.

[0048] As shown in FIG1 , the transport system 10 includes a transport robot 100 and a power assembly 200. The transport robot 100 is disposed between the stator 20 and the rotor 30 and is capable of carrying various detection equipment. The power assembly 200 is used to provide the transport robot 100 with a driving force for driving the transport robot 100 to move, so as to drive the transport robot 100 to move along a first direction F1. The first direction F1 is parallel to the axial direction of the stator 20 and the rotor 30. It can be understood that the power assembly 200 is used to carry the transport robot 100 and carry the detection equipment between the stator 20 and the rotor 30 and to inspect different positions of the stator 20 and the rotor 30.

[0049] The carrier robot 100 includes a carrier body 110 and an adsorption assembly 120. 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 is provided on the carrier body 110, and is used to be magnetically connected with the part to be detected, or the adsorption assembly 120 is mainly used to be magnetically connected with the first core of the stator 20 or the second core of the rotor 30, so that the carrier robot 100 will not fall off when it is on the arc-shaped inner ring of the stator 20 or on the arc-shaped outer ring of the rotor 30, and will not be detached from the stator 20 or the rotor 30. The power component 200 is connected to the carrier body 110 to drive the carrier robot 100 to move along the first direction F1, wherein the first direction F1 is parallel to the axial direction of the stator 20 or the rotor 30 of the engine, so that the power component 200 drives the carrier robot 100 to move from one end of the engine to the other end of the engine, and so on, and all parts of the stator 20 or the rotor 30 can be detected.

[0050] With reference to FIG. 2 , it can be understood that the inner ring of the stator 20 of the engine is a first iron core and a slot wedge 820 extending along the first direction F1, and the first iron core and the slot wedge 820 are arranged in sequence, that is, the magnetic first iron core, the non-magnetic slot wedge 820, the magnetic first iron core, the non-magnetic slot wedge 820, the magnetic first iron core... are arranged in sequence, and two adjacent first iron cores are arranged with a slot wedge 820. Similarly, the outer ring of the rotor 30 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... are arranged in sequence, and two adjacent second iron cores are arranged with a slot wedge 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 core or the second core, and the transport robot 100 can be adsorbed on different first cores or different second cores and move along the first direction F1, so as to detect different positions on the stator 20 or the rotor 30.

[0051] The carrier system 10 of the present application is driven by the power component 200 to enter between the rotor 30 and the stator 20, and is adsorbed on the surface of the stator 20 or the rotor 30 by the adsorption component 120 to prevent the body from falling off the stator 20 or the rotor 30, and then combined with the power component 200 to realize the movement of the carrier system 10 on the stator 20 or the rotor 30 of the engine, or in other words, to realize its movement between the stator 20 and the rotor 30, and the stator 20 or the rotor 30 is inspected by carrying the detection equipment through the carrier body 110, without pulling the rotor 30 out of the stator 20, thereby improving the convenience of generator maintenance and saving maintenance time.

[0052] 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.

[0053] Referring to FIG. 3 and FIG. 4 , the power assembly 200 includes a first driving member 220 and a pulling member 210, one end of the pulling member 210 is connected to the first driving member 220, and the other end of the pulling member 210 is arranged along the first direction F1 between the member to be detected or the stator 20 and the rotor 30, and is connected to the carrier body 110 located in the member to be detected or between the stator 20 and the rotor 30, so that the carrier robot 100 can move along the first direction F1 under the drive of the driving member. In some embodiments, the pulling member 210 is configured as a rope, which transmits the driving force of the first driving member 220 to the carrier robot 100 to drive the carrier robot 100 to move, and at the same time cooperates with the adsorption assembly 120 to be adsorbed on the first iron core or the second iron core to prevent the carrier robot 100 from falling off the stator 20 or the rotor 30.

[0054] The power assembly 200 further includes a winding disk and a release disk, one end of the pulling member 210 is wound on the winding disk, and the other end of the pulling member 210 passes through the carrier body 110 and is wound on the release disk. It can be understood that the winding disk and the release disk are respectively arranged at both ends of the stator 20 along the first direction F1, and the pulling member 210 is extended along the first direction F1 and arranged between the winding disk and the release disk, and is located in the gap between the stator 20 and the rotor 30. The carrier body 110 is located in the gap between the stator 20 and the rotor 30, and is arranged on the pulling member 210, and moves along the first direction F1 under the pulling of the pulling member 210.

[0055] The first driving member 220 is connected to the winding disk and the release disk respectively, so as to drive the winding disk to wind up the pulling member 210, and drive the release disk to release the pulling member 210. Thus, in the process of winding up one end of the pulling member 210 and releasing the other end, the pulling member 210 drives the carrier body 110 to move toward one end of the winding pulling member 210 along the first direction F1. It can be understood that the first driving member 220 can also drive the winding disk to release the pulling member 210, and drive the release disk to wind up the pulling member 210, so that the pulling member 210 can drive the carrier body 110 to move toward the winding disk or toward the release disk along the first direction F1, that is, the carrier body 110 can move back and forth between the stator 20 and the rotor 30 along the first direction F1 under the pulling of the pulling member 210. As shown in FIG. 3, the winding disk or the release disk connected to the first driving member 220 and the first driving member 220 are both located at the position marked as the first driving member 220 in FIG. 3.

[0056] In some embodiments, referring to FIG. 1 and FIG. 3, the power assembly 200 further includes two support bodies 230 disposed on the stator 20 or at both ends of the stator 20 along the first direction F1. The support body 230 can be disposed on the rotor 30 or the stator 20. The support body 230 includes an annular guide rail 231 and a rotating driving member 232. The rotating driving member 232 can drive the pulling member 210 to rotate relative to the annular guide rail 231 around an axis parallel to the first direction F1. The rotating driving member 232 of one of the support bodies 230 is disposed at Between the corresponding annular guide rail 231 and the release disk, the rotating driving member 232 of the other supporting body 230 is arranged between the corresponding annular guide rail 231 and the winding disk. The rotating driving member 232 can drive the release disk and the winding disk to rotate around an axis parallel to the first direction F1, thereby driving the pulling member 210 and the carrier body 110 on the pulling member 210 to rotate around an axis parallel to the first direction F1 in the gap between the stator 20 and the rotor 30, so as to drive the carrier body 110 to move to different iron cores 810. After the carrier body 110 is driven by the first driving member 220 to move from one end of the stator 20 or the rotor 30 to the other end on the previous iron core 810 to complete the detection of the location, the pulling member 210 and the carrier body 110 are driven by the rotating driving member 232 of the supporting body 230 to switch to another iron core 810, and then driven by the first driving member 220 to move from the other end of the stator 20 or the rotor 30 to one end to complete the detection of the corresponding position. This is repeated until the detection of each part of the outer ring of the rotor 30 or the inner ring of the stator 20 is completed.

[0057] Referring to FIG. 4 , the carrier body 110 includes a body portion and a connecting portion 410 disposed on the body portion. The body portion has a receiving groove for receiving the detection device. The other end of the pulling member 210 passes through the connecting portion 410 and is wound on the release plate. That is, the pulling member 210 is connected to the body portion through the connecting portion 410, so that the carrier body 110 is fixed on the pulling member 210, so that the pulling member 210 can pull the carrier body 110 to move along the first direction F1.

[0058] Continuing to refer to FIG. 4 , the power assembly 200 further includes at least two locking members 420, which are clamped on the pulling member 210, and the at least two locking members 420 are respectively limited to the two sides of the connecting portion 410 along the first direction F1. It can be understood that the connecting portion 410 is penetrated with a through hole along the first direction F1, and the pulling member 210 is connected to the connecting portion 410 through the through hole, and the locking members 420 are locked on the two sides of the connecting portion 410 on the pulling member 210 along the first direction F1, thereby limiting the connecting portion 410 to the preset position of the pulling member 210, and further enabling the pulling member 210 to provide the driving force for the carrier body 110 to move along the first direction F1.

[0059] In some embodiments, the carrier body 110 includes a plurality of connection parts 410, and the pulling member 210 may also be provided in plurality, and two or more of the plurality of connection parts 410 may be sequentially provided along the first direction F1, so that a single pulling member may pass through two or more connection parts 410 sequentially provided along the first direction F1, so as to improve the limiting stability of the pulling member 210 on the carrier body 110. The plurality of connection parts 410 may also be respectively provided on the body part along the second direction F2, for example, the plurality of connection parts 410 may be provided on both sides of the body part along the second direction F2, and the plurality of pulling members 210 may also be correspondingly provided on different connection parts 410, so as to improve the limiting stability of the carrier body 110 from the second direction F2, and improve the lateral stability of the carrier body 110.

[0060] 4, the transport system 10 includes two sets of power components 200, which are arranged at intervals along the second direction F2 and are respectively connected to opposite sides of the transport body 110 along the second direction F2, wherein the first direction F1 and the second direction F2 intersect each other. The two sets of power components 200 can improve the driving stability of the transport body 110 and improve the moving efficiency.

[0061] 5, 6, 7 and 8, the adsorption assembly 120 includes at least two magnetic members 121, and the magnetic member 121 is used to be magnetically connected to the member to be detected, or in other words, the magnetic member 121 is used to be magnetically connected to the first iron core of the stator 20 or the second iron core of the rotor 30. At least two magnetic members 121 are arranged on the carrier body 110 at intervals along the first direction F1 to improve the magnetic adsorption force.

[0062] In some embodiments, the carrier robot 100 of the present application can achieve autonomous movement. Referring to Figures 7, 8 and 9, the carrier robot 100 also includes a moving component 130, which can achieve autonomous driving and movement along the first direction F1 through its own moving parts.

[0063] 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.

[0064] The controller is electrically connected to the two moving assemblies 130 to adjust the driving power of the two moving assemblies 130 respectively, so that when the carrier robot 100 yaws, the driving power of the two moving assemblies 130 can be adjusted by the controller to make the carrier robot 100 return to the normal path. In other words, it can be understood that the left and right moving assemblies 130 are independently controlled, and the steering movement of the carrier robot 100 can be achieved according to the speed difference of their movement.

[0065] As shown in Fig. 6 and Fig. 8, the moving assembly 130 includes a track wheel and a moving driving member 134, both of which are arranged on the carrier body 110. The moving driving member 134 is connected to the track wheel by transmission, and is used to drive the track wheel to rotate, thereby indirectly driving the carrier body 110 to move along the first direction F1 between the stator 20 and the rotor 30. Through the arrangement of the track wheel, the self-driven movement of the carrier robot 100 can be realized, and the locking member 420 limited on both sides of the connecting portion 410 along the first direction F1 can be removed, so that the pulling member 210 passes through the through hole of the connecting portion 410, and is not fixed to the connecting portion 410. At this time, the pulling member 210 does not provide a driving force but only plays a guiding role, and then the driving force is provided by the track wheel and the moving driving member 134, so that the self-driven movement of the carrier robot 100 can be realized.

[0066] In some embodiments, as shown in Figure 6, the track wheel ring is arranged on the outer periphery of the adsorption component 120, or the track wheel ring is arranged on the outer periphery of the corresponding one or more magnetic parts 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 20 and the rotor 30.

[0067] In some embodiments, 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 20 or the rotor 30, and reducing the risk of the carrier body 110 falling off the stator 20 or the rotor 30 and damaging the carrier robot 100.

[0068] Referring to FIG. 6 and FIG. 8 , the transport robot 100 further includes a slide plate 140, which is disposed between the magnetic member 121 and the track wheel. In some embodiments, the slide plate 140 includes a smooth surface, which is disposed toward the inner wall of the track 131 of the track wheel, so as to reduce the friction force 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.

[0069] In some embodiments, as shown in Figures 5, 6 and 9, the carrier robot 100 also includes a cam 190 provided 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 20 or the rotor 30, 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 automatically without affecting the movement of the carrier robot 100.

[0070] Referring to FIG. 7 and FIG. 8 , the track wheel includes a driving wheel 132, a driven wheel 133, and a track 131 that is connected to the driving wheel 132 and the driven wheel 133. 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 includes a transmission assembly 150, which includes a first transmission gear 151 connected to the output end of the mobile drive member 134, and a second transmission gear 152 meshed with 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 drive 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 drive member 134. At this time, the carrier robot 100 does not need the drive of the traction member 210, and can realize its own autonomous movement.

[0071] In some embodiments, as shown in FIG5 and FIG6, 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 finely observe the surface of the stator and rotor 30. When the carrier robot 100 moves autonomously through the track wheels and no pulling member 210 is provided for guidance, it can sense whether the movement of the robot is offset according to the image recorded in real time by the camera 160 and the subsequent image processing. If 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.

[0072] 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 operating status of the robot based on the video and audio information.

[0073] In some embodiments, as shown in FIG. 10 , 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.

[0074] In some embodiments, as shown in Figures 4 and 10, 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 lamp 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.

[0075] In some embodiments, as shown in FIG6 , 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.

[0076] 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 generator stator 20 and the rotor 30 .

[0077] In some embodiments, as shown in FIG. 5 , 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 .

[0078] In some embodiments, the carrier robot 100 further includes an adjustment unit, which is connected between the carrier body 110 and the moving assembly 130 and is configured to enable the moving assembly 130 and the carrier body 110 to be connected at a preset angle, so that the moving assembly 130 and the carrier body 110 are arranged around the rotor 30, wherein the first direction F1 is parallel to the axial direction of the stator 20 or the rotor 30 of the engine. It can be understood that the inner ring of the stator 20 and the outer ring of the rotor 30 are both arranged in an arc shape, and the arrangement of the adjustment unit enables the carrier robot 100 as a whole to be arranged in a preset arc to better fit the stator 20 or the rotor 30. The carrying robot 100 is adjusted by an adjustment unit so that the moving component 130 and the carrying body 110 are connected at a preset angle, so that the moving component 130 and the carrying body 110 are arranged around the rotor 30, so that the connection between the moving component 130 and the carrying body 110 can adapt to the curvature of the surface of the rotor 30 or the stator 20, thereby improving the autonomous adjustability of the carrying robot 100 and making it suitable for more complex maintenance environments.

[0079] In some embodiments, the carrier robot 100 further includes an encoder 300. As shown in FIG9 , the encoder 300 includes a rotary encoder disposed on the carrier body 110, so as to obtain the displacement of the carrier body 110 along the first direction F1. As the carrier body 110 moves, the rotary encoder moves synchronously, so as to be able to obtain the displacement of the carrier body 110.

[0080] As shown in Figures 7 and 8, 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.

[0081] 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.

[0082] The carrier system 10 of the present application moves autonomously into between the rotor 30 and the stator 20 through the mobile component 130, and at the same time, it is adsorbed on the surface of the stator 20 or the rotor 30 through the adsorption component 120 to prevent the body from falling off the stator 20 or the rotor 30, and then combined with the power component 200 to realize the movement of the carrier system 10 on the stator 20 or the rotor 30 of the engine, or in other words, to realize its movement between the stator 20 and the rotor 30, and to detect the stator 20 or the rotor 30 through the carrier body 110 carrying the detection equipment, without the need to pull the rotor 30 out of the stator 20, thereby improving the convenience of generator maintenance and saving maintenance time. In addition, the carrier system 10 of the present application can also be provided with a pulling member 210 that only plays a guiding role, and then realizes autonomous movement through the mobile component 130 of the carrier robot 100 itself, so as to face the working conditions such as sudden damage of the power component 200, improve the guarantee of generator maintenance, and be able to face emergencies.

[0083] 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.

[0084] 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 system for transporting a testing device into a part to be tested, characterized in that: The delivery system comprises: A carrier robot, the carrier robot comprising a carrier body and an adsorption component, the carrier body being used to carry a detection device, the adsorption component being arranged on the carrier body and being used to be magnetically connected to a to-be-detected object; and A power assembly is connected to the carrier body to drive the carrier robot to move along a first direction.

2. The delivery system according to claim 1, characterized in that: The power assembly includes a first driving member and a pulling member, one end of the pulling member is connected to the first driving member, and the other end of the pulling member is passed through the part to be detected along the first direction and connected to the carrier body located in the part to be detected, so that the carrier robot can move along the first direction under the drive of the first driving member.

3. The delivery system according to claim 2, characterized in that: The power assembly further includes a winding disk and a release disk, one end of the pulling member is wound on the winding disk, and the other end of the pulling member passes through the carrier body and is wound on the release disk; The first driving member is connected to the winding disk and the releasing disk respectively to drive the winding disk to wind up the pulling member and drive the releasing disk to release the pulling member.

4. The delivery system according to claim 3, characterized in that: The carrier body comprises a main body portion and a connecting portion provided on the main body portion; The main body has a receiving groove for receiving the detection device; The other end of the pulling member passes through the connecting portion and is wound around the release disk.

5. The delivery system according to claim 4, characterized in that: The power assembly further includes at least two locking members, which are clamped on the pulling member, and the at least two locking members are respectively limited to two sides of the connecting portion along the first direction.

6. The delivery system according to any one of claims 1 to 5, characterized in that: The carrier system comprises two groups of power components, which are arranged at intervals along the second direction and are respectively connected to opposite sides of the carrier body along the second direction; The first direction and the second direction intersect each other.

7. The delivery system according to any one of claims 1 to 5, characterized in that: The adsorption assembly includes at least two magnetic parts, and the magnetic parts are used to be magnetically connected to the part to be detected; At least two magnetic components are arranged on the carrier body at intervals along the first direction.

8. The delivery system according to claim 7, characterized in that: The transport robot further comprises a moving component, wherein the moving component comprises a track wheel arranged on the transport body, and the track wheel ring is arranged on the outer periphery of the magnetic component.

9. The delivery system according to claim 8, characterized in that: The moving assembly further includes a moving driving member disposed on the carrier body, and the moving driving member is transmission-connected to the track wheel to drive the track wheel to rotate, thereby indirectly driving the carrier body to move along the first direction.

10. The delivery system according to claim 8, characterized in that: The transport robot further comprises a slide plate, and the slide plate is arranged between the magnetic part and the track wheel.

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