Foreign matter picking robot and generator cleaning equipment
By designing a foreign object picking robot, using a sticky roller to bond foreign objects on the generator stator or rotor surface, the problem of poor cleaning of existing maintenance robots is solved, and efficient and safe generator cleaning is achieved.
Patent Information
- Application Number
- CN202422358062.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-26
- Publication Date
- 2025-07-25
- Estimated Expiration
- 2034-09-26
AI Technical Summary
When cleaning the generator, existing maintenance robots are difficult to effectively remove large foreign objects, resulting in poor cleaning results. Traditional methods require large manpower and material investment and may damage the generator.
A foreign object pickup robot is designed, using a sticky roller to bond foreign objects on the surface of the stator or rotor, and driving the robot to drive the roller to move in the air gap to achieve the pickup of foreign objects. The axis of the roller is perpendicular to the direction of movement to ensure the cleaning effect.
It can efficiently clean foreign matter on the stator and rotor surface without extracting the rotor, reduce manpower and material investment, avoid generator collision and damage, and improve cleaning efficiency.
Smart Images
Figure CN223156935U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of electrical maintenance, and particularly to a foreign object picking robot and a generator cleaning device. Background Art
[0002] A generator includes a stator and a rotor. The rotor is disposed inside the stator. After the generator is put into use, it is necessary to regularly clean the generator to ensure its normal operation.
[0003] When traditionally cleaning a generator, the rotor is usually pulled out of the stator, and then workers enter the stator cavity for cleaning. After cleaning, the rotor is disposed inside the stator again. This requires a large amount of manpower and material resources, takes a long time, and may also cause damage to the generator due to collisions during the pulling and inserting processes.
[0004] For this reason, some generators use maintenance robots during daily maintenance. The maintenance robot can enter the generator without pulling out the rotor to clean the generator. However, currently, the maintenance robot usually uses a suction method to suck foreign objects out of the generator. But for relatively large foreign objects, the maintenance robot cannot suck them in, resulting in poor cleaning effect of the generator. Summary of the Utility Model
[0005] Based on this, in view of the problem of poor cleaning effect of the maintenance robot that uses the suction method for cleaning, it is necessary to provide a foreign object picking robot and a generator cleaning device.
[0006] A foreign object picking robot includes:
[0007] A load-bearing main body;
[0008] A traveling module, which is installed on the load-bearing main body and is used to support the load-bearing main body to move along a preset direction;
[0009] A picking module, which is installed on the load-bearing main body. The picking module includes a roller that can rotate around its own axis. The circumferential surface of the roller forms an adhesive bonding surface, and the axis of the roller is perpendicular to the preset direction.
[0010] In one embodiment, the picking module further includes a roller bracket and a mounting seat. The mounting seat is installed on the load-bearing main body. One end of the roller is rotatably installed on the roller bracket around its own axis, and the other end of the roller bracket is rotatably installed on the mounting seat around a rotation axis parallel to the axis of the roller.
[0011] In one embodiment, the picking module further includes a driving member and an elastic member. The driving member is mounted on the mounting seat, and the elastic member is elastically connected between the mounting seat and the roller bracket.
[0012] The driving member is configured to drive the roller bracket to move along a first circumferential direction, and the elastic member is configured to deform under the drive of the roller bracket and store an elastic restoring force for driving the roller bracket to move around a second circumferential direction; and / or, the driving member is configured to drive the roller bracket to move along the second circumferential direction, and the elastic member is configured to deform under the drive of the roller bracket and store an elastic restoring force for driving the roller bracket to move around the first circumferential direction; wherein, the second circumferential direction is opposite to the first circumferential direction.
[0013] In one embodiment, the driving member includes a telescopic portion that is telescopic relative to the mounting seat. The telescopic direction of the telescopic portion intersects with the rotation axis. When the telescopic portion extends out of the mounting seat, it can abut against the roller bracket and drive the roller bracket to move along the first circumferential direction or the second circumferential direction.
[0014] In one embodiment, the foreign object picking robot further includes a working condition image module, which is disposed at an end of the carrying body along the preset direction and is configured to collect image signals.
[0015] In one embodiment, the working condition image module includes an illuminating member and a photographing member, and the illuminating member and the photographing member are disposed at the same end of the carrying body along the preset direction.
[0016] In one embodiment, the foreign object picking robot further includes a sound collection module, which is disposed on the carrying body and is configured to collect sound signals around the foreign object picking robot.
[0017] In one embodiment, the traveling module includes two crawler assemblies, and the two crawler assemblies are disposed on opposite sides of the carrying body in the installation direction, and the installation direction is perpendicular to the preset direction.
[0018] Each crawler assembly includes a driving wheel, a driven wheel, and a crawler body. The driving wheel and the driven wheel are disposed on the carrying body at intervals along the preset direction, and the crawler body is movably wound around the driving wheel and the driven wheel and is configured to support the carrying body to move along the preset direction.
[0019] A generator cleaning device includes a driving robot and a foreign object picking robot as described in any one of the above.
[0020] In one embodiment, the driving robot includes a groove-changing member and a synchronous belt. There are two groove-changing members, which are arranged at intervals. Each groove-changing member is provided with a driving wheel. The synchronous belt is movably wound between the two driving wheels of the two groove-changing members, and the synchronous belt is connected to the carrying body to drive the carrying body to move.
[0021] In the above foreign object picking robot, the circumferential surface of the roller forms an adhesive surface. When the surface of the roller contacts the surface of the stator or the rotor, the foreign objects on the surface of the stator or the rotor will adhere to the surface of the roller to complete the cleaning of the surface of the stator or the rotor. Moreover, when the driving robot drives the carrying body to move in the air gap, the roller will also roll along with the movement of the carrying body, so as to clean different areas of the surface of the stator or the rotor. And the adhesive surface can adhere to the foreign objects on the surface of the stator or the rotor, so that the foreign objects leave the air gap together with the foreign object picking robot. Even in the face of relatively large foreign objects, the foreign objects can be taken out of the air gap, improving the cleaning effect of the generator. Description of the Drawings
[0022] Figure 1 Schematic diagram of the cleaning equipment cleaning the generator in some embodiments of the present application.
[0023] Figure 2 is Figure 1 Schematic diagram of the structure of the foreign object picking robot in the embodiment.
[0024] Figure 3 is Figure 1 Schematic diagram of the structure of the picking module of the foreign object picking robot in the embodiment.
[0025] Description of the Reference Numerals:
[0026] Foreign object picking robot 10;
[0027] Carrying body 100; Tightening block 110;
[0028] Picking module 200; Adhesive surface 201; Roller 210; Roller bracket 211; Mounting seat 212; Driving member 220;
[0029] Working condition image module 300; Lighting member 301; Camera member 302; Sound collection module 320;
[0030] Traveling module 400; Track assembly 410; Traveling wheel 420; Track body 430;
[0031] Driving robot 20; Groove-changing member 21; Synchronous belt 22; Driving wheel 23;
[0032] Stator 30; Rotor 40; Air gap 50. Detailed implementation manners
[0033] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe in detail the specific implementation manners of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description to fully understand 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 departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.
[0034] In the description of the present application, it should be understood that if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present application.
[0035] In addition, if there are terms such as "first" and "second", these terms are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, if there is a term "plurality", the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.
[0036] In the present application, unless otherwise clearly specified and limited, if there are terms such as "install", "connect", "connection", "fix", etc., these terms should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.
[0037] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the 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. The first feature being "below", "below" and "below" the 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.
[0038] It should be noted that if 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. If 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. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.
[0039] See also Figure 1 , the generator cleaning device provided by an embodiment of the present application, before introducing the generator cleaning device, first briefly introduce the partial structure of the generator, continue to refer to Figure 1 The generator includes a stator 30 and a rotor 40 inserted into the stator 30. There is an air gap 50 between the stator 30 and the rotor 40. The rotor 40 can rotate around a central axis in the stator 30. During the long-term use of the generator, some foreign matter may enter the air gap 50 and adhere to the surface of the stator 30 or the rotor 40, thereby affecting the normal operation of the generator.
[0040] Therefore, the generator needs to regularly clean the foreign matter on the surface of the stator 30 and the rotor 40, and the generator cleaning device provided by the embodiment of the present invention can pick up foreign matter on the inner surface of the stator 30 and the outer surface of the rotor 40, which is described in detail below.
[0041] Continue reading Figure 1 , Figure 2 and Figure 3 The generator cleaning device includes a foreign object picking robot 10 and a driving robot 20. The foreign object picking robot 10 includes a carrying body 100, a walking module 400 and a picking module 200. The carrying body 100 can be transmission-connected with the driving robot 20, and is constructed to be able to enter the air gap 50 between the rotor 40 and the stator 30 of the generator from the outside under the drive of the driving robot 20, and move along the axial or circumferential direction of the rotor 40.
[0042] It can be understood that in other embodiments, the generator cleaning device may also only include the foreign object picking robot 10, and the foreign object picking robot 10 further includes a driving module for driving the movement of the walking module 400 so that the foreign object picking robot 10 can move along the axial or circumferential direction of the rotor 40. That is to say, the movement mode of the foreign object picking robot 10 is not limited, as long as the foreign object picking robot 10 can move within the air gap 50.
[0043] The walking module 400 is installed on the carrying body 100 and is used to support the carrying body 100 to move in a preset direction, which can be the axial or circumferential direction of the rotor 40. After the carrying body 20 enters the air gap 50 driven by the driving robot 20, the carrying body 20 can move on the surface of the rotor 40 through the walking module 400, and through the walking module 400, the movement of the carrying body 100 on the surface of the rotor 40 is smoother, which is beneficial to the cleaning work of the cleaning device on the rotor 40 or the stator 30.
[0044] The picking module 200 is installed on the carrying body 100. Driven by the driving robot 20, the picking module 200 can enter the air gap 50 between the rotor 40 and the stator 30 together with the carrying body 100 from the outside. When the picking module 200 enters the air gap 50, the picking module 200 can pick up foreign objects on the surface of the stator 30 or the rotor 40. After the picking is completed, the foreign objects leave the air gap 50 together with the foreign object picking robot 10, completing the cleaning of the foreign objects on the surface of the stator 30 or the rotor 40. During the cleaning process, it is not necessary to extract the rotor 40 from the stator 30, which saves time and effort, and the stator 30 and the rotor 40 will not collide during the cleaning process, and the generator will not be damaged.
[0045] The overall shape of the foreign object picking robot 10 is designed in an arc-shaped flat style to better fit the outer surface of the rotor 40. At the same time, the carrying body 100 is assembled in a modular manner for easy assembly and later maintenance. In order to reduce the total weight of the foreign object picking robot 10, the main body of the foreign object picking robot 10 is mostly made of lightweight aviation aluminum material. Secondly, the structure design adopts a hollow structure design. When the outer dimensions are 500mm×800mm×38mm, the total weight of the robot is only 4kg.
[0046] Specifically, the pickup module 200 includes a roller 210. The circumferential surface of the roller 210 forms an adhesive surface 201 with adhesiveness. When the surface of the roller 210 contacts the surface of the stator 30 or the rotor 40, foreign matters on the surface of the stator 30 or the rotor 40 will adhere to the surface of the roller 210, thereby completing the cleaning of the surface of the stator 30 or the rotor 40. Moreover, when the driving robot 20 drives the carrying body 100 to move within the air gap 50, the roller 210 will also roll along with the movement of the carrying body 100, so as to clean different areas of the surface of the stator 30 or the rotor 40. And by using the adhesive surface 201, the foreign matters on the surface of the stator 30 or the rotor 40 can be adhered, so that the foreign matters leave the air gap together with the foreign matter pickup robot 10. Even in the face of relatively large foreign matters, the foreign matters can be taken out from the air gap 50, improving the cleaning effect of the generator.
[0047] Wherein, the axis of the roller 210 is perpendicular to the preset direction, so that the carrying body 100 moves along the preset direction on the surface of the rotor 40 through the traveling module 400. And when the surface of the roller 210 contacts the surface of the rotor 40 or the stator 30, the roller 210 can rotate around its own axis to cooperate with the movement of the carrying body 100, ensuring that the carrying body 100 can move normally.
[0048] Specifically in some embodiments, the pickup module 200 further includes a roller bracket 211 and a mounting seat 212. The mounting seat 212 is mounted on the carrying body 100. One end of the roller 210 is rotatably mounted on the roller bracket 211 around its own axis. The other end of the roller bracket 211 is rotatably mounted on the mounting seat 212 around the rotation axis, and the rotation axis is parallel to the axis of the roller 210.
[0049] When the roller bracket 211 is located within the air gap 50 and the roller bracket 211 moves along the first circumferential direction around the rotation axis, the roller 210 can contact the surface of the stator 30. And after the roller 210 contacts the surface of the stator 30, when the roller bracket 211 moves along the second circumferential direction around the rotation axis, the roller 210 will separate from the surface of the stator 30. The second circumferential direction is opposite to the first circumferential direction. Based on this, when the roller 210 is located within the air gap 50, controlling the forward rotation of the roller bracket 211 around the rotation axis (i.e., rotating along the first circumferential direction, which is a relative concept to the "reverse rotation" below) can control the roller 210 to contact the surface of the stator 30, so as to clean the surface of the stator 30 through the roller 210. On the contrary, controlling the reverse rotation of the roller bracket 211 around the rotation axis can control the roller 210 to separate from the surface of the stator 30, so as to facilitate the movement of the position of the roller 210.
[0050] When the roller bracket 211 is located within the air gap 50 and the roller bracket 211 moves along the second circumferential direction around the rotation axis, the roller 210 can not only separate from the surface of the stator 30 but also contact the surface of the rotor 40. After the roller 210 contacts the surface of the rotor 40, when the roller bracket 211 moves along the first circumferential direction around the rotation axis, the roller 210 will separate from the surface of the rotor 40. Based on this, when the roller bracket 211 is located within the air gap 50, controlling the reverse rotation of the roller bracket 211 around the rotation axis can control the contact between the roller 210 and the surface of the rotor 40, so as to clean the surface of the rotor 40 through the roller 210. Conversely, controlling the forward rotation of the roller bracket 211 around the rotation axis can control the separation of the roller 210 from the surface of the rotor 40, facilitating the movement of the position of the roller 210.
[0051] Taking the cleaning of the rotor 40 as an example, when it is necessary to clean the rotor 40, control the roller bracket 211 to rotate reversely around the mounting base 212, and make the outer peripheral surface of the roller 210 contact the surface of the rotor 40. At the same time, drive the roller 210 to move along the axial direction of the rotor 40 until the roller 210 moves back and forth along the axial direction of the rotor 40 once. Then control the roller bracket 211 to rotate forward around the mounting base 212, so that the roller 210 separates from the surface of the rotor 40. Then control the carrying body 100 to move along the axis of the rotor 40. At this time, since the roller 210 has separated from the rotor 40, the movement of the carrying body 100 is no longer affected by the adhesion resistance, ensuring the smoothness of the movement of the carrying body 100. The cleaning of the stator 30 is the same as that of the rotor 40.
[0052] Specifically in some embodiments, in order to control the rotation of the roller 210 around the rotation axis, the picking module 200 further includes a driving member 220 and an elastic member. The driving member 220 is installed on the mounting base 212, and the elastic member is elastically connected between the mounting base 212 and the roller bracket 211. In this embodiment, when the elastic member is in the initial state, the roller 210 does not contact the surfaces of the rotor 40 and the stator 30.
[0053] The driving member 220 is used to drive the roller bracket 211 to move along the first circumferential direction, and the elastic member is used to deform under the drive of the roller bracket 211 and accumulate an elastic restoring force for driving the roller bracket 211 to move along the second circumferential direction. In this way, when the driving member 220 drives the roller bracket 211 to move until the roller 210 contacts the surface of the stator 30, the elastic member will be in a compressed or stretched state. If the driving member 220 continuously outputs power to make the roller 210 press against the surface of the stator 30, the roller 210 can normally clean the surface of the stator 30. If the driving member 220 stops outputting power, the roller bracket 211 will move under the action of the elastic member, making the roller 210 separate from the surface of the stator 30, thus facilitating the movement of the position of the roller 210.
[0054] Further, the driving member 220 can also be used to drive the roller bracket 211 to move in the second circumferential direction. The elastic member is deformed under the drive of the roller bracket 211 and stores an elastic restoring force for driving the roller bracket 211 to move in the first circumferential direction. That is, when the driving member 220 drives the roller bracket 211 to move until the roller 210 contacts the surface of the rotor 40, the elastic member will also be in a compressed or stretched state. When the driving member 220 stops outputting power, the roller bracket 211 will move under the action of the elastic member, causing the roller 210 to separate from the surface of the rotor 40, thereby facilitating the movement of the position of the roller 210.
[0055] Specifically Figure 1 In the embodiment, the driving member 220 includes a telescopic portion that is telescopic relative to the mounting base 212. The telescopic direction of the telescopic portion intersects the rotation axis. When the telescopic portion extends, the telescopic portion can abut against the roller bracket 211 and drive the roller bracket 211 in the first circumferential direction so that the roller 210 on the roller bracket 211 can contact the surface of the stator 30. When the telescopic portion retracts, the roller bracket 211 loses the support of the telescopic portion, and the roller bracket 211 will move in the second circumferential direction under the action of the elastic member, causing the roller 210 on the roller bracket 211 to separate from the surface of the stator 30.
[0056] It can be understood that by changing the position of the telescopic portion, when the telescopic portion of the driving member 220 extends, it can also be used to drive the roller bracket 211 to move in the second circumferential direction for cleaning the surface of the rotor 40. In some other embodiments, the driving member 220 can also be provided with two telescopic portions, one of which is used to drive the roller bracket 211 to move in the first circumferential direction, and the other telescopic portion is used to drive the roller bracket 211 to move in the second circumferential direction. In still some other embodiments, the driving member 220 can also be a motor, and the roller bracket 211 is driven to rotate by the motor.
[0057] In some embodiments of the present application, the foreign object picking robot 10 further includes a working condition image module 300. The working condition image module 300 is arranged at the end of the carrying main body 100 along a preset direction. The working condition image module 300 is used to collect image signals in front of the foreign object picking robot 10. In this way, the operator can analyze the conditions of the surfaces of the rotor 40 and the stator 30 through the working condition image module 300, so as to find foreign objects on the surfaces of the rotor 40 and the stator 30 and pick them up in time through the picking module 200.
[0058] Further, the foreign object picking robot 10 includes a sound collection module 320. The sound collection module 320 is disposed on the carrying body 100 to collect sound signals around the foreign object picking robot 10. The operator can monitor the overall operating state of the foreign object picking robot 10 by means of the collected sound signals in cooperation with the image signals collected by the working condition image module 300.
[0059] In some embodiments, the working condition image module 300 includes an illumination member 301 and an imaging member 302. In the direction from the outside into the air gap 50, the illumination member 301 and the imaging member 302 are disposed at the same end of the carrying body 100 along a preset direction (in this embodiment, the illumination member 301 and the imaging member 302 are disposed at the front end of the carrying body 100 in the advancing direction) to illuminate the air gap 50 through the illumination member 301, so as to facilitate image collection through the imaging member 302.
[0060] Further, the picking module 200 is also disposed at the same end of the carrying body 100 as the illumination member 301 and the imaging member 302 (that is, in this embodiment, the picking module 200 is also disposed at the front end of the carrying body 100 in the advancing direction) and is disposed close to the illumination member 301 and the imaging member 302, so as to directly observe the foreign object picking process of the picking module 200 through the imaging member 302, thereby monitoring the foreign object picking process and ensuring the picking effect.
[0061] In some embodiments, the traveling module 400 includes two crawler assemblies 410. The two crawler assemblies 410 are disposed on opposite sides of the carrying body 100 in the installation direction, and the installation direction is perpendicular to the preset direction. Each crawler assembly includes two traveling wheels 420 and a crawler body 430. The two traveling wheels 420 are disposed on the carrying body 100 at intervals along the preset direction, and the two traveling wheels 420 are connected by the crawler body 430. The two crawler bodies 430 jointly support the carrying body 100 to move along the preset direction.
[0062] In some embodiments of the present application, in order to drive the foreign object picking robot 10 to travel in the air gap 50, the driving robot 20 includes a groove-changing member 21 and a synchronous belt 22. There are two groove-changing members 21, and the two groove-changing members 21 are disposed at intervals, and the two groove-changing members 21 are respectively disposed at opposite ends of the rotor 40 in the axial direction. A driving wheel 23 is disposed on each groove-changing member 21. The synchronous belt 22 is movably wound around the driving wheels 23 of the two groove-changing members 21 along the axial direction of the rotor 40, and the synchronous belt 22 passes through the air gap 50 and is connected to the carrying body 100 to drive the carrying body 100 to move.
[0063] Thus, when the synchronous belt 22 moves within the air gap 50, it will drive the carrying body 100 to move along the axis direction of the rotor 40 together, thereby bringing the foreign object picking robot 10 into the air gap 50 from the outside, and continuing to drive the foreign object picking robot 10 to move along the axis direction of the rotor 40 within the air gap 50. Specifically, a tensioning block 110 is provided on the carrying body 100, and the carrying body 100 is connected to the synchronous belt 22 through the tensioning block 110, and the carrying body 100 is driven to move within the air gap 50 by the synchronous belt 22.
[0064] Furthermore, in addition to providing power through the driving wheel 23, the synchronous belt 22 can detect the movement position information of the synchronous belt 22 through a position encoder, so as to obtain the position information of the foreign object picking robot 10, facilitating the monitoring of the position of the foreign object picking robot 10.
[0065] Specifically in some embodiments, each transmission member is rotatable around the axis of the rotor 40, so as to change the position of the synchronous belt 22 by the rotation of the two groove-changing members 21, and finally change the position of the foreign object picking robot 10 relative to the rotor 40 and the stator 30 in the circumferential direction, and clean the circumferential surfaces of the rotor 40 and the stator 30.
[0066] In some embodiments, at least one of the walking wheels 420 can be connected to an external power source, so as to drive the walking wheels 420 to rotate through the external power source, thereby driving the track body to move through the walking wheels 420, and further driving the carrying body 100 to move along a preset direction through the track body 430. It can be understood that in other embodiments, the walking module 400 can also be other common walking structures such as rollers 210.
[0067] The above cleaning equipment has at least the following advantages:
[0068] Realize the functions of cleaning the surface and ventilation holes of the stator 30, cleaning the surface and ventilation holes of the rotor 40, video inspection, and sound signal analysis inspection through the foreign object picking robot 10;
[0069] The foreign object picking robot 10 is integrally designed in an arc and flat shape, with a thickness of only 40 mm, so that it can penetrate into the narrow air gap 50 between the generator rotor 40 and the stator 30;
[0070] The movement of the foreign object picking robot 10 is driven by the synchronous belt 22 of the driving robot 20, so that the position of the foreign object picking robot 10 can be measured through an encoder;
[0071] The foreign object picking robot 10 uses a sticky roller 210 for sticking, and the roller 210 has the functions of pressing and lifting.
[0072] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as the scope recorded in this specification.
[0073] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, 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 appended claims.
Claims
1. A foreign object picking robot, characterized in that, The foreign object picking robot includes: a carrier body (100); a walking module (400), which is installed on the carrier body (100) and is used to support the carrier body (100) to move in a preset direction; a picking module (200), which is installed on the carrier body (100). The picking module (200) includes a roller (210) that can rotate around its own axis. The circumferential surface of the roller (210) forms an adhesive surface (201) with adhesiveness, and the axis of the roller (210) is perpendicular to the preset direction.
2. The foreign object picking robot according to claim 1, characterized in that The picking module (200) further includes a roller bracket (211) and a mounting seat (212). The mounting seat (212) is installed on the carrier body (100). One end of the roller (210) is rotatably installed on the roller bracket (211) around its own axis, and the other end of the roller bracket (211) is rotatably installed on the mounting seat (212) around a rotation axis, and the rotation axis is parallel to the axis of the roller (210).
3. The foreign object picking robot according to claim 2, wherein, The picking module (200) further includes a driving member (220) and an elastic member. The driving member (220) is installed on the mounting seat (212), and the elastic member elastically connects the mounting seat (212) and the roller bracket (211); The driving member (220) is used to drive the roller bracket (211) to move in a first circumferential direction, and the elastic member is used to deform under the drive of the roller bracket (211) and accumulate an elastic restoring force for driving the roller bracket (211) to move in a second circumferential direction; and / or, the driving member (220) is used to drive the roller bracket (211) to move in the second circumferential direction, and the elastic member is used to deform under the drive of the roller bracket (211) and accumulate an elastic restoring force for driving the roller bracket (211) to move in the first circumferential direction; wherein, the second circumferential direction is set opposite to the first circumferential direction.
4. The foreign object picking robot according to claim 3, wherein The driving member (220) includes a telescopic portion that is telescopic relative to the mounting seat (212). The telescopic direction of the telescopic portion intersects with the rotation axis. When the telescopic portion extends out of the mounting seat, it can abut against the roller bracket (211) and drive the roller bracket (211) to move in the first circumferential direction or the second circumferential direction.
5. The foreign object picking robot according to any one of claims 1-4, characterized in that, The foreign object picking robot further includes a working condition image module (300), which is arranged at the end of the carrier body (100) along the preset direction and is used to collect image signals.
6. The foreign object picking robot according to claim 5, characterized in that, The working condition image module (300) includes an illuminating member (301) and an imaging member (302), and the illuminating member (301) and the imaging member (302) are arranged at the same end of the carrier body (100) along the preset direction.
7. The foreign object picking robot according to any one of claims 1-4, characterized in that, The foreign object picking robot further includes a sound collection module (320), which is arranged on the carrier body (100) and is used to collect sound signals around the foreign object picking robot.
8. The foreign object picking robot according to any one of claims 1-4, characterized in that, The walking module (400) includes two crawler assemblies (410), and the two crawler assemblies (410) are arranged on opposite sides of the carrying body (100) in the installation direction, and the installation direction is perpendicular to the preset direction; Each crawler assembly (410) includes two walking wheels (420) and a crawler body (430). The two walking wheels (420) are arranged on the carrying body (100) at intervals along the preset direction, and the two walking wheels (420) are connected by the crawler body (430). The two crawler bodies (430) jointly support the carrying body (100) to move along the preset direction.
9. A generator cleaning device, characterized in that, It includes a driving robot (20) and a foreign object picking robot (10) according to any one of claims 1-8.
10. The generator cleaning device according to claim 9, wherein, The driving robot (20) includes a groove-changing member (21) and a synchronous belt (22). There are two groove-changing members (21), and the two groove-changing members (21) are arranged at intervals. Each groove-changing member (21) is provided with a driving wheel (23). The synchronous belt (22) is movably wound between the two driving wheels (23) of the two groove-changing members (21), and the synchronous belt (22) is connected to the carrying body (100) to drive the carrying body (100) to move.