Wall-climbing robot magnetic wheel for turbine runner

Abstract

The utility model discloses a wall-climbing robot magnetic wheel for a water turbine runner, and relates to the technical field of water turbine runner inspection. The wall-climbing robot magnetic wheel comprises a transmission shaft, wheels used for rolling on a rotating wheel are fixed to the two ends of the transmission shaft, and the transmission shaft is sleeved with a shell located between the two wheels. A frameless motor is arranged between the shell and the transmission shaft and drives the transmission shaft to rotate through a speed reducing mechanism, and the outer portion of the shell is connected with an adsorption device used for magnetically attracting the rotating wheel. The magnetic wheel can adapt to a narrow space on the water turbine runner, detection equipment can be conveniently carried on the magnetic wheel to replace manual detection operation on the runner, and the problems of missing detection and falling risks existing in manual detection are solved.

Description

Technical Field

[0001] The present application relates to the technical field of water turbine runner inspection, and in particular to a magnetic wheel of a wall-climbing robot for a water turbine runner. Background Art

[0002] The runner is a key component of a hydro turbine, responsible for converting water energy into mechanical energy. During operation, the runner is subject to residual thermal stress from welding, transient forces from water flow, erosion by solid particles, and unstable operating conditions, often resulting in various dangerous defects that significantly restrict the development of hydropower stations. Therefore, it is necessary to inspect the runner during unit downtime to promptly monitor its operating status.

[0003] The runner of a Francis turbine primarily consists of an upper crown, a lower ring, and multiple identically shaped blades. Currently, runner inspection and evaluation are primarily performed manually using visual inspection and handheld inspection equipment. However, due to the narrow space between the runner blades and the dim and humid environment, manual inspection can lead to missed inspections and the risk of blades falling. Utility Model Content

[0004] The purpose of the present application is to provide a wall-climbing robot magnetic wheel for a turbine runner, so as to solve the problem of missed inspection and risk of falling during manual inspection.

[0005] The technical solution adopted by this application to solve its technical problems is:

[0006] A wall-climbing robot magnetic wheel for a turbine runner comprises a transmission shaft, with wheels for rolling on the runner fixed at both ends of the transmission shaft, and a housing sleeved on the transmission shaft and located between the two wheels;

[0007] A frameless motor is provided between the housing and the transmission shaft. The frameless motor drives the transmission shaft to rotate through a reduction mechanism. An adsorption device for a magnetically attracted rotating wheel is connected to the outside of the housing.

[0008] Furthermore, the deceleration mechanism includes a harmonic reducer connected to the housing; the output end of the harmonic reducer is connected to the transmission shaft, the input end of the harmonic reducer is connected to the rotor of the frameless motor, and the stator of the frameless motor is connected to the housing.

[0009] Furthermore, the reduction mechanism further includes an output shaft, an input shaft, and a mounting cylinder sequentially sleeved on the transmission shaft from the inside to the outside, the harmonic reducer is arranged between the input shaft and the housing and connected to one end of the mounting cylinder, and the frameless motor is arranged between the input shaft and the mounting cylinder;

[0010] The output end of the harmonic reducer is connected to the output shaft, the input end of the harmonic reducer is connected to the input shaft, the stator is connected to the mounting cylinder, and the rotor is connected to the input shaft.

[0011] Furthermore, a brake is provided between the input shaft and the mounting cylinder.

[0012] Furthermore, an encoder is provided between the output shaft and the mounting cylinder.

[0013] Furthermore, a transmission shaft flange extending in its radial direction is fixed to one end of the transmission shaft, and the transmission shaft flange is sealed and rotationally engaged with one end of the housing;

[0014] The other end of the transmission shaft is rotatably connected to a dust cover through a bearing, and the dust cover is detachably connected to the other end of the shell.

[0015] Furthermore, when the adsorption device is magnetically attracted to the rotating wheel, a mechanical gap is provided between the adsorption device and the rotating wheel.

[0016] Furthermore, the adsorption device includes a permanent magnet.

[0017] Furthermore, the wheel includes an inner wheel ring connected to the transmission shaft and an outer wheel ring mounted on the inner wheel ring.

[0018] Furthermore, the inner wheel ring is made of a lightweight alloy material, and the outer wheel ring is made of an elastic material.

[0019] Beneficial effects of this application:

[0020] The magnetic wheel of the wall-climbing robot provided in the embodiment of the present application can be adsorbed on the runner through the adsorption effect of the adsorption device on the runner; through the cooperation of the frameless motor and the deceleration mechanism, not only can the transmission shaft be driven to rotate, the transmission shaft drives the wheel to roll on the runner, and the magnetic wheel can walk on the runner, but also the external dimensions of the magnetic wheel can be reduced, and at the same time the transmission shaft drives the load at a lower speed and higher torque, providing high-efficiency and high-performance power output; therefore, the magnetic wheel of the present application can adapt to the narrow space on the turbine runner, and is convenient for carrying detection equipment on the magnetic wheel to replace manual detection of the runner, thereby solving the problem of missed detection and falling risks in manual inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 This is a schematic diagram of the structure of the magnetic wheel of the wall-climbing robot provided in an embodiment of the present application;

[0023] Figure 2 It is a structural diagram of the connection between the reduction mechanism and the frameless motor;

[0024] Figure 3 It is a structural diagram of the transmission shaft;

[0025] Figure 4 It is a schematic diagram of the structure of the wheel.

[0026] Reference numerals:

[0027] 10- transmission shaft;

[0028] 101- transmission shaft flange;

[0029] 102-sealing ring;

[0030] 11-wheel;

[0031] 111- wheel inner ring;

[0032] 112- wheel outer ring;

[0033] 12-housing;

[0034] 121-housing flange;

[0035] 13-frameless motor;

[0036] 131-rotor;

[0037] 132-stator;

[0038] 14- speed reduction mechanism;

[0039] 141-harmonic reducer;

[0040] 142-output shaft;

[0041] 1421- output shaft flange;

[0042] 143-input shaft;

[0043] 144-installation cylinder;

[0044] 1441-Install the barrel flange;

[0045] 145-support bearing;

[0046] 15- adsorption device;

[0047] 16-brake;

[0048] 161-brake body;

[0049] 162-brake flange;

[0050] 163-brake drive;

[0051] 17- encoder;

[0052] 171-encoder magnetic ring;

[0053] 172-encoder plug;

[0054] 173-encoder mounting ring;

[0055] 174-Hexagonal stud;

[0056] 18-Dust cover;

[0057] 19-Gasket. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0059] It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures. In addition, the embodiments and features in the embodiments of this application can be combined with each other unless there is a conflict.

[0060] In the description of the embodiments of the present application, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the product of the application is usually placed when in use, or the orientation or position relationship commonly understood by those skilled in the art. The terms "disposed", "opened", "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, and 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, and it can be the internal communication of two components.

[0061] See also Figure 1 The wall-climbing robot magnetic wheel for a turbine runner provided in an embodiment of the present application includes a transmission shaft 10, with wheels 11 for rolling on the runner fixed at both ends of the transmission shaft 10, and a shell 12 located between the two wheels 11 is sleeved on the transmission shaft 10; a frameless motor 13 is arranged between the shell 12 and the transmission shaft 10, and the frameless motor 13 drives the transmission shaft 10 to rotate through a reduction mechanism 14, and the outside of the shell 12 is connected to an adsorption device 15 for magnetically attracting the runner.

[0062] For example, see Figure 1 The drive shaft 10 is arranged horizontally, and the two wheels 11 are respectively installed at both ends of the drive shaft 10 by screws. The wheels 11 are axially fixed by gaskets 19 and radially fixed by keys. The outer shell 12 is roughly cylindrical, arranged between the two wheels 11 and coaxially sleeved on the drive shaft 10. A frameless motor 13 and a reduction mechanism 14 are arranged in the space between the outer shell 12 and the drive shaft 10. The frameless motor 13 and the reduction mechanism 14 constitute a power mechanism, which is not only used to connect the outer shell 12 and the drive shaft 10 together, but also used to drive the drive shaft 10 to rotate around its own axis. The adsorption device 15 is fixed to the bottom of the outer surface of the outer shell 12 and is used to magnetically attract the rotating wheel.

[0063] The magnetic wheel of the wall-climbing robot provided in the embodiment of the present application, when placed on the surface of the rotating wheel, the wheel 11 contacts the surface of the rotating wheel, and a magnetic adsorption force is generated on the surface of the rotating wheel through the adsorption device 15. The magnetic adsorption force can press the two wheels 11 to the surface of the rotating wheel, ensuring that there is friction between the wheels 11 and the surface of the rotating wheel, so that the entire magnetic wheel can be stably and reliably adsorbed on the surface of the rotating wheel; through the cooperation of the frameless motor 13 and the reduction mechanism 14, the transmission shaft 10 is driven to rotate, and the transmission shaft 10 then drives the two wheels 11 to roll on the surface of the rotating wheel, so that the magnetic wheel can walk on the surface of the rotating wheel.

[0064] The magnetic wheel for a wall-climbing robot provided in the embodiments of the present application, through the cooperation of the frameless motor 13 and the reduction mechanism 14, can also reduce the overall dimensions of the magnetic wheel, while enabling the drive shaft 10 to drive the load at a lower speed and higher torque, providing high-efficiency and high-performance power output. Therefore, the magnetic wheel of the present application can fit into the narrow space on the turbine runner, facilitating the installation of inspection equipment on the magnetic wheel to replace manual inspection of the runner, thus resolving the problems of missed inspections and the risk of drops during manual inspections.

[0065] In some embodiments, see Figure 2 The reduction mechanism 14 includes a harmonic reducer 141 connected to the housing 12. The output end of the harmonic reducer 141 is connected to the transmission shaft 10, and the input end of the harmonic reducer 141 is connected to the rotor 131 of the frameless motor 13. The stator 132 of the frameless motor 13 is connected to the housing 12. This design structure integrates the frameless motor 13 and the harmonic reducer 141, further reducing the overall size of the magnetic wheel.

[0066] For example, see Figure 2The reduction mechanism 14 also includes an output shaft 142, an input shaft 143 and a mounting cylinder 144, which are sequentially sleeved on the transmission shaft 10 from the inside to the outside. The harmonic reducer 141 is arranged between the input shaft 143 and the housing 12 and is connected to one end of the mounting cylinder 144. The frameless motor 13 is arranged between the input shaft 143 and the mounting cylinder 144. The output end of the harmonic reducer 141 is connected to the output shaft 142, the input end of the harmonic reducer 141 is connected to the input shaft 143, the stator 132 is connected to the mounting cylinder 144, and the rotor 131 is connected to the input shaft 143.

[0067] During use, the rotor 131 of the frameless motor 13 drives the input shaft 143 to rotate, and the input shaft 143 drives the input end of the harmonic reducer 141 to rotate, so that the wave generator in the harmonic reducer 141 drives the flexible wheel to deform. Due to the tooth difference between the flexible wheel and the rigid wheel, the flexible wheel drives the rigid wheel to rotate during the continuous deformation process. The rigid wheel then transmits a smaller speed and a larger torque to the output end of the harmonic reducer 141. The output end of the harmonic reducer 141 drives the output shaft 142 to rotate, and the output shaft 142 then drives the transmission shaft 10 to rotate, and the transmission shaft 10 drives the two wheels 11 to roll.

[0068] In some embodiments, see Figure 2 The left end of output shaft 142 is integrally formed with an output shaft flange 1421 extending radially outward. Output shaft flange 1421 is screwed to the output end of harmonic reducer 141. The inner diameter of input shaft 143 is larger than the outer diameter of output shaft 142, thereby creating a gap between the two after installation. Due to their different rotational speeds, this prevents contact and wear, reducing energy loss. The left end of mounting cylinder 144 is integrally formed with a mounting cylinder flange 1441 extending radially inward. Harmonic reducer 141 is screwed to mounting cylinder flange 1441. Mounting cylinder flange 1441 is rotationally connected to input shaft 143 via support bearing 145.

[0069] In some embodiments, see Figure 1 A brake 16 is provided between the input shaft 143 and the mounting tube 144, and an encoder 17 is provided between the output shaft 142 and the mounting tube 144. The brake 16 can decelerate and brake the input shaft 143, and the encoder 17 can measure the position and rotation speed of the wheel 11, providing an accurate position feedback signal, thereby achieving precise positioning control of the magnetic wheel on the rotating wheel.

[0070] For example, see Figure 2Brake 16 includes a brake body 161, a brake flange 162, and a brake driver 163. Brake body 161 is connected to brake flange 162 via screws. The input end of brake body 161 is connected to the right end of input shaft 143. Brake flange 162 is connected to mounting tube 144 via screws. Brake driver 163 is also connected to brake flange 162 via screws. During braking, brake driver 163 stops the input end of brake body 161 through magnetic force or friction, thereby braking input shaft 143.

[0071] Encoder 17 includes an encoder magnetic ring 171, an encoder plug 172, and an encoder mounting ring 173. Encoder magnetic ring 171 is connected to output shaft 142 via screws, encoder plug 172 is connected to encoder mounting ring 173 via screws, and encoder mounting ring 173 is connected to brake flange 162 via hexagonal studs 174. During use, the encoder magnetic ring 171 and encoder plug 172 work together to accurately detect the rotational position and speed of output shaft 142, thereby achieving the purpose of measuring the position and rotational speed of wheel 11.

[0072] In some embodiments, see Figure 1 、 Figure 3 A radially extending drive shaft flange 101 is fixed to one end of the drive shaft 10. Drive shaft flange 101 is sealed and rotationally engaged with one end of the housing 12. A dust cover 18 is rotatably connected to the other end of the drive shaft 10 via a bearing. Dust cover 18 is detachably connected to the other end of the housing 12 via screws. Drive shaft flange 101, housing 12, and dust cover 18 protect the frameless motor 13, reduction mechanism 14, brake 16, and encoder 17 from dust, moisture, and other contaminants, thereby reducing wear and maintenance requirements.

[0073] Exemplarily, the transmission shaft flange 101 is fixedly connected to the output shaft flange 1421 by screws. A sealing ring 102 is integrally formed on the outer edge of the transmission shaft flange 101, extending axially toward the housing 12. A housing flange 121 is integrally formed on the left end of the housing 12, extending radially inward. The sealing ring 102 is inserted into the housing flange 121 and rotatably engages with the housing flange 121. The housing flange 121 is connected to the harmonic reducer 141 by screws.

[0074] In some embodiments, see Figure 1 When the adsorption device 15 is magnetically attracted to the rotating wheel, a mechanical gap is formed between the adsorption device 15 and the rotating wheel. The mechanical gap allows the adsorption device 15 to achieve non-contact adsorption with the rotating wheel surface, thereby avoiding the friction and wear problems in traditional contact adsorption and reducing energy loss. The adsorption device 15 may include an electromagnet. For example, see Figure 1The adsorption device 15 includes a permanent magnet, which can be arc-shaped and can be connected to the housing 12 by screws and gluing.

[0075] In some embodiments, see Figure 4 The wheel 11 includes an inner ring 111 connected to the drive shaft 10 and an outer ring 112 mounted on the inner ring 111. For example, the inner ring 111 is made of a lightweight alloy, and the outer ring 112 is made of an elastic material. The inner ring 111 made of the lightweight alloy has a low density, which reduces the weight of the wheel and achieves lightweighting. The outer ring 112 made of the elastic material has excellent corrosion resistance and wear resistance, which can reduce the frequency of wheel maintenance and replacement, thereby reducing long-term maintenance costs.

[0076] The above is only a preferred embodiment of the present application and does not constitute any form of limitation to the present application. Based on the technical essence of the present application and within the spirit and principles of the present application, any simple modification, equivalent replacement and improvement of the above embodiment shall still fall within the scope of protection of the technical solution of the present application.

Claims

1. A magnetic wheel for a wall-climbing robot used for a turbine runner, characterized in that: The invention comprises a transmission shaft (10), wheels (11) for rolling on a rotating wheel are fixed at both ends of the transmission shaft (10), and a housing (12) is sleeved on the transmission shaft (10) and located between the two wheels (11); A frameless motor (13) is provided between the housing (12) and the transmission shaft (10), and the frameless motor (13) drives the transmission shaft (10) to rotate via a speed reduction mechanism (14). An adsorption device (15) for a magnetically attracted rotating wheel is connected to the outside of the housing (12).

2. The magnetic wheel of the wall-climbing robot according to claim 1, characterized in that: The speed reduction mechanism (14) includes a harmonic reducer (141) connected to the housing (12); an output end of the harmonic reducer (141) is connected to the transmission shaft (10), an input end of the harmonic reducer (141) is connected to the rotor (131) of the frameless motor (13), and a stator (132) of the frameless motor (13) is connected to the housing (12).

3. The magnetic wheel of the wall-climbing robot according to claim 2, characterized in that: The speed reduction mechanism (14) further includes an output shaft (142), an input shaft (143), and a mounting cylinder (144) which are sequentially sleeved on the transmission shaft (10) from the inside to the outside; the harmonic speed reducer (141) is arranged between the input shaft (143) and the housing (12) and connected to one end of the mounting cylinder (144); and the frameless motor (13) is arranged between the input shaft (143) and the mounting cylinder (144); The output end of the harmonic reducer (141) is connected to the output shaft (142), the input end of the harmonic reducer (141) is connected to the input shaft (143), the stator (132) is connected to the mounting cylinder (144), and the rotor (131) is connected to the input shaft (143).

4. The magnetic wheel of the wall-climbing robot according to claim 3, characterized in that: A brake (16) is provided between the input shaft (143) and the mounting cylinder (144).

5. The magnetic wheel of the wall-climbing robot according to claim 3, characterized in that: An encoder (17) is provided between the output shaft (142) and the mounting cylinder (144).

6. The magnetic wheel of the wall-climbing robot according to claim 1, characterized in that: A transmission shaft flange (101) extending in its radial direction is fixed to one end of the transmission shaft (10), and the transmission shaft flange (101) is sealed and rotationally engaged with one end of the housing (12); The other end of the transmission shaft (10) is rotatably connected to a dust cover (18) via a bearing, and the dust cover (18) is detachably connected to the other end of the housing (12).

7. The magnetic wheel of the wall-climbing robot according to claim 1, characterized in that: When the adsorption device (15) is magnetically attracted to the rotating wheel, a mechanical gap exists between the adsorption device (15) and the rotating wheel.

8. The magnetic wheel of the wall-climbing robot according to claim 1, characterized in that: The adsorption device (15) comprises a permanent magnet.

9. The magnetic wheel of the wall-climbing robot according to claim 1, characterized in that: The wheel (11) comprises a wheel inner ring (111) connected to the transmission shaft (10) and a wheel outer ring (112) mounted on the wheel inner ring (111).

10. The magnetic wheel of the wall-climbing robot according to claim 9, characterized in that: The wheel inner ring (111) is made of a light alloy material, and the wheel outer ring (112) is made of an elastic material.

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