Clamp based on generator detection robot

Abstract

The utility model provides a clamp based on a generator detection robot, which comprises a clamping mechanism and a driving mechanism, and the clamping mechanism can move relative to the driving mechanism. The clamping mechanism has a first state of abutting against the generator detection robot and a second state of being separated from the generator detection robot, and when the clamping mechanism is in the first state, the driving mechanism can drive the generator detection robot to stably move towards the interior of the generator stator or move out of the interior of the generator stator; the driving mechanism drives the clamping mechanism to directly bear the generator detection robot, the generator detection robot is conveyed into the stator in a non-contact mode in the whole process and placed at a detection position, and inner wall abrasion caused by the fact that the generator detection robot depends on driving wheels of the generator detection robot to make contact with the inner wall of the stator can be avoided; and accidental falling or collision possibly caused when the generator detection robot is manually placed at a detection position can be avoided, the risk that the inner wall of the stator is damaged is reduced, and the service life of the stator is prolonged.

Description

Technical Field

[0001] This utility model relates to the field of clamping technology, and in particular to a clamping device based on a generator testing robot. Background Technology

[0002] In power systems, generators are core equipment, and their stable operation directly affects the safety and reliability of the power system. Generators mainly consist of a stator, rotor, and other key components, with stator bars fixed in the stator slots by slot wedges. During generator operation, the stator bars are subjected to radial electromagnetic forces due to energization, causing them to vibrate within the slots. Prolonged operation and drastic temperature fluctuations under deep peak-shaving conditions can cause the slot wedges fixing the stator bars to loosen, exacerbating the vibration and creating a vicious cycle. This intensified vibration can ultimately lead to stator failure.

[0003] Currently, there are inspection robots on the market capable of inspecting the internal structure of generators. For example, Chinese invention patent CN118795329A describes a generator rotor inspection robot and inspection method that does not require extraction. This robot includes an injection molding main frame, an inspection device, and several drive mechanisms. The inspection device is mounted on the injection molding main frame. Each drive mechanism includes an injection molding wheel and a micro motor. The injection molding wheel is rotatably mounted on the injection molding main frame, and the micro motor is fixedly connected to the injection molding main frame and is used to drive the injection molding wheel to rotate. This design has the advantages of stable operation without affecting the internal structure of the generator.

[0004] However, the aforementioned testing robot needs to be moved from the generator inlet to the testing position during use. If it is completely driven autonomously, long-term operation may cause the robot's drive wheels to rub frequently against the inner wall of the stator, resulting in unnecessary wear. Moreover, the generator stator has an arc-shaped internal structure. If the testing robot is manually lifted and sent into the depths of the generator stator, the narrow space and limited line of sight inside the stator will not only make operation inconvenient, but also make it easy to bump into things during movement, damaging the stator slots or bar insulation layer and increasing safety hazards. Utility Model Content

[0005] In view of the shortcomings of the prior art mentioned in the background art, this utility model proposes a fixture based on a generator testing robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A gripper based on a generator testing robot includes a gripping mechanism and a driving mechanism, wherein the gripping mechanism is movable relative to the driving mechanism;

[0008] The gripping mechanism has a first state of contact with the generator testing robot and a second state of separation from the generator testing robot. When the gripping mechanism is in the first state, the driving mechanism can drive the generator testing robot to move into the generator stator or move out of the generator stator.

[0009] Furthermore, the gripping mechanism includes a mounting arm and a gripper assembly movably disposed on the mounting arm. The mounting arm is connected to the drive mechanism, and the gripper assembly can move relatively close to or away from the generator detection robot to allow the gripping mechanism to switch between the first state and the second state.

[0010] Furthermore, the number of mounting arms is two, and the end of each mounting arm is connected to the drive mechanism;

[0011] The clamping assembly includes a drive component, a transmission rack, and an abutment plate. The drive component includes a motor and a gear. The motor is fixedly connected to the mounting arm, and the output shaft of the motor is driven by the gear. There are two transmission racks located on opposite sides of the gear and meshing with it. When the motor drives the gear to rotate, the two transmission racks move in opposite directions through the gear transmission. The abutment plate is connected to the end of the transmission rack so that when the racks move in opposite directions, the abutment plate can abut against or separate from the inner walls of the two concave slides of the generator detection robot.

[0012] Furthermore, the end of the mounting arm away from the drive mechanism is provided with a mounting groove, and the gear and at least part of the transmission rack are disposed within the mounting groove.

[0013] Furthermore, the number of mounting arms is one, the end of the mounting arm is connected to the drive mechanism, and the clamping assembly includes clamping members for gripping both sides of the generator testing robot; or

[0014] The number of mounting arms is two, and the clamping assembly includes clamping members. The clamping assembly is used to clamp the outer walls of the two concave slides of the generator testing robot.

[0015] Furthermore, it also includes at least one set of movable mechanisms, and the number of mounting arms is two. The ends of the mounting arms are connected to the drive mechanism. The movable mechanisms are used to movably connect the two mounting arms to adjust the positions of the two mounting arms according to the internal curvature of the stator.

[0016] Furthermore, the movable mechanism includes two connecting plates and an intermediate plate, one end of the connecting plate is fixedly connected to the inner wall of the mounting arm, and the intermediate plate is hinged between the two connecting plates;

[0017] The drive mechanism is fixedly connected to the nearest intermediate plate.

[0018] Furthermore, the driving mechanism is a retractable electric push rod. When the gripping mechanism is in the first state, the retractable electric push rod can drive the generator inspection robot to move into or out of the generator stator.

[0019] Furthermore, the abutment plate includes an abutment surface that abuts against the generator testing robot, and a rubber pad is provided on the abutment surface.

[0020] In summary, compared with the prior art, the present invention has at least the following beneficial effects:

[0021] This utility model provides a gripper based on a generator testing robot, including a gripping mechanism and a driving mechanism. The gripping mechanism is movable relative to the driving mechanism. The gripping mechanism has a first state of contact with the generator testing robot and a second state of separation from the generator testing robot. When the gripping mechanism is in the first state, the driving mechanism can drive the generator testing robot to move smoothly into or out of the generator stator. The gripping mechanism directly carries the generator testing robot through the driving mechanism, transporting it into the stator and placing it in the testing position in a completely non-contact manner. This not only avoids the wear and tear on the inner wall of the stator caused by the generator testing robot relying on its own drive wheels to frequently contact the inner wall of the stator, but also avoids accidental drop or collision that may occur when the generator testing robot is manually placed in the testing position, reducing the risk of damage to the inner wall of the stator. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the fixture provided in one embodiment of the present invention.

[0024] Figure 2 This is a schematic diagram of the clamp assembly provided in one embodiment of the present invention.

[0025] Figure 3 This is a schematic diagram of the mounting arm provided in one embodiment of the present invention.

[0026] Figure 4 This is a schematic diagram of the structure of a generator testing robot in the prior art.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. Clamping mechanism; 11. Mounting arm; 111. Mounting slot; 12. Clamping assembly; 121. Driving component; 1211. Motor; 1212. Gear; 122. Transmission rack; 123. Abutment plate; 1231. Abutment surface; 13. Movable mechanism; 131. Connecting plate; 132. Intermediate plate;

[0029] 2. Drive mechanism;

[0030] 3. Generator testing robot; 31. Main frame; 311. Slide table. Detailed Implementation

[0031] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0032] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0034] As attached Figure 1 and attached Figure 4As shown, a gripper based on a generator testing robot includes a gripping mechanism 1 and a driving mechanism 2. The gripping mechanism 1 is movable relative to the driving mechanism 2. The gripping mechanism 1 has a first state of contacting the generator testing robot 3 and a second state of separation from the generator testing robot 3. When the gripping mechanism 1 is in the first state, the driving mechanism 2 can drive the generator testing robot 3 to move smoothly into or out of the generator stator.

[0035] In some embodiments, the gripping mechanism 1 can be in the form of mechanical grippers, directly gripping both sides of the main frame 31 of the generator testing robot 3, and then driving the generator testing robot 3 to move along the stator axial direction via the drive mechanism 2, suspending the generator testing robot 3 and sending it into the testing position inside the generator stator. In other embodiments, the gripping mechanism 1 can grip different positions of the main frame 31 of the generator testing robot 3 through multiple gripping points to disperse the gripping force and avoid local deformation of the main frame 31 due to the gripping force. In other embodiments, the gripping mechanism 1 can be an internal support structure, that is, it grips the generator testing robot 3 by abutting against the inner wall of the main frame 31 of the generator testing robot 3, and then driving the generator testing robot 3 to move along the stator axial direction via the drive mechanism 2, suspending the generator testing robot 3 and sending it into the testing position inside the generator stator, so as to avoid the gripping mechanism 1 colliding with the inner wall of the stator or other components during the transportation of the generator testing robot 3. Of course, in other embodiments, the gripping mechanism 1 can also adopt other methods such as suction cups and magnetic attraction, which are not limited here. In addition, in some embodiments, the drive mechanism 2 can drive the clamping mechanism 1 by means of electric push rod, lead screw drive, gear rack, etc., so that it can make axial linear motion along the inside of the generator stator. The specific driving method is not limited here.

[0036] The specific usage of this utility model is as follows: First, switch the gripping mechanism 1 and the generator testing robot 3 to the first state. Then, the user holds the drive mechanism 2 and starts the drive mechanism 2. The drive mechanism 2 drives the gripping mechanism 1 and the robot to move non-contactly along the stator axis until they reach the testing position. Then, the gripping mechanism 1 switches to the second state, so that the generator testing robot 3 is smoothly released to the testing position. Start the drive mechanism 2, so that the gripping mechanism 1 moves in the opposite direction to move the gripping mechanism 1 out of the generator stator. After the generator testing robot 3 has completed the testing of the generator stator, the user holds the drive mechanism 2, restarts the drive mechanism 2, moves the gripping mechanism 1 to the position of the generator testing robot 3, and then shuts down the drive mechanism 2. Then, switch back to the first state, start the drive mechanism 2, so that the gripping mechanism 1 drives the generator testing robot 3 to move in the opposite direction along the stator axis to move it out of the generator stator. After it is moved out, switch the gripping mechanism 1 to the second state to complete the separation of the generator testing robot 3 and the fixture.

[0037] Therefore, this utility model uses the drive mechanism 2 to drive the clamping mechanism 1 to directly carry the generator testing robot 3, transporting it into the stator and placing it in the testing position in a completely non-contact manner. This not only avoids the wear on the inner wall caused by the generator testing robot 3 relying on its own drive, but also avoids accidental drop or bumps that may occur when the generator testing robot 3 is manually placed in the testing position, reducing the risk of damage to the inner wall of the stator and extending the service life of the generator stator.

[0038] In some embodiments of this utility model, as shown in the appendix Figure 1 As shown, the gripping mechanism 1 includes a mounting arm 11 and a gripper assembly 12 movably mounted on the mounting arm 11. The mounting arm 11 is connected to the drive mechanism 2. After the mounting arm 11 is driven by the drive mechanism 2 to bring the gripper assembly 12 to the gripping point of the generator testing robot 3, the gripper assembly 12 can move relatively closer to or away from the generator testing robot 3. Through the cooperation between the mounting arm 11 and the gripper assembly 12, the gripping mechanism 1 can switch between the first state and the second state.

[0039] In some embodiments of this utility model, as shown in the appendix Figure 1 Appendix Figure 2 and attached Figure 4 As shown, there are two mounting arms 11. The ends of the mounting arms 11 are connected to the drive mechanism 2. The positions of the two mounting arms 11 correspond to the concave slides 311 on both sides of the main frame 31 of the generator detection robot 3. The clamping assembly 12 is an internal support structure, including a drive component 121, a transmission rack 122, and an abutment plate 123. The drive component 121 includes a motor 1211 and a gear 1212. The motor 1211 is fixedly connected to the mounting arm 11, and the output shaft of the motor 1211 is connected to the gear 1212. The number of transmission racks 122 is... There are two transmission racks 122 located on opposite sides of gear 1212 and meshing with gear 1212, so that when the motor rotates forward or reverses, it drives gear 1212 to rotate forward or reverse. The two transmission racks 122 are driven by gear 1212 and move in opposite directions at the same time. The abutment plate 123 is connected to the end of the transmission rack 122 along the moving direction, so that when the transmission rack 122 moves in opposite directions, the abutment plate 123 can abut or separate from the inner wall of the two concave slides 311 of the generator detection robot 3.

[0040] In some embodiments, there are two abutment plates 123, each abutment plate 123 being fixedly connected to the ends of two transmission racks 122 on the same side. When the motor 1211 drives the gear 1212 to rotate, the transmission racks 122 on both sides move synchronously in opposite directions, causing the abutment plates 123 to move obliquely, that is, the plate surface forms an angle with the inner wall of the slide 311, and the abutment plates 123 on both sides become parallel and obliquely parallel. When switching to the first state, the abutment plates 123 only contact the concave slide 311 of the generator detection robot 3 through their inclined edges or ends. Wall contact; preferably, in other embodiments, there are two or four abutment plates 123, which are arranged at both ends of the transmission rack 122 on opposite sides. When the two transmission racks 122 move in opposite directions through the gear 1212, the abutment plates 123 move horizontally closer to or away from the inner wall of the slide 311, always keeping the plate surface parallel to the inner wall of the slide 311. That is, when switching to the first state, the entire plate surface of the abutment plate 123 abuts against the inner wall of the concave slide 311 of the generator detection robot 3, so as to increase the contact area and ensure the reliability of the gripping mechanism 1.

[0041] In some embodiments of this utility model, due to the narrow interior space between the generator stator and rotor, in order to reduce the protruding portion of the clamp and avoid limited movement due to insufficient internal space of the generator, thus preventing collision with the inner wall of the stator, as shown in the attached figure... Figure 1 and attached Figure 3 As shown, the mounting arm 11 has a mounting groove 111 at the end away from the drive mechanism 2. The gear 1212 and at least part of the transmission rack 122 are disposed in the mounting groove 111. When the two transmission racks 122 move in opposite directions through the gear 1212, the abutment plate 123 extends out from the mounting groove 111 or retracts to abut or release the generator detection robot 3.

[0042] In some embodiments of this utility model, the clamping assembly 12 is a clamping structure. In some embodiments, there is one mounting arm 11, the end of which is connected to the drive mechanism 2, and the clamping assembly 12 is disposed at the other end of the mounting arm 11. The clamping assembly 12 includes clamping members, which are used to directly clamp the symmetrical positions on both sides of the main frame 31 of the generator testing robot 3 to reduce the complexity of operation. In other embodiments, there are two mounting arms 11, the end of which is connected to the drive mechanism 2, and the clamping assembly 12 is disposed at the other end of the mounting arm 11. The clamping assembly 12 includes clamping members, and the clamping members of each mounting arm 11 clamp the outer walls on both sides of the two concave slides 311 of the generator testing robot 3 respectively, forming four clamping points to disperse the clamping force and avoid local deformation of the main frame 31 due to the clamping force.

[0043] In some embodiments of this utility model, as shown in the appendix Figure 1As shown, since the inner wall of the stator inside the generator usually has a certain curvature, and the curvature of the inner wall may be different for different models of generators, in order to avoid interference caused by the rigid connection between the two mounting arms 11 not being able to adapt to the curvature of the stator inner wall, the fixture also includes at least one set of movable mechanisms 13 for movably connecting the two mounting arms 11. This allows the two mounting arms 11 to rotate or translate relative to each other within a certain range, thereby dynamically adjusting the position of the two mounting arms 11 according to the curvature of the stator. It is worth noting that, in order to avoid interference between the movable mechanism 13 between the two mounting arms 11 and the generator detection robot 3 during the switching process between the first and second states, on the one hand, the length of the mounting arms 11 needs to be set to be long enough, and on the other hand, at least one set of movable mechanisms 13 is set close to the ends of the two mounting arms 11. Furthermore, the movable mechanism 13 can be a hinged structure, a slider guide rail, etc., which is not limited here.

[0044] In some embodiments of this utility model, as shown in the appendix Figure 1 As shown, the moving mechanism 13 includes two connecting plates 131 and an intermediate plate 132. One end of the connecting plate 131 is fixedly connected to the inner wall of the mounting arm 11. The intermediate plate 132 is hinged between the two connecting plates 131, allowing the connecting plates 131 and the intermediate plate 132 to rotate freely, thus better adapting the two mounting arms 11 to the curved inner wall of the stator. Additionally, the drive mechanism 2 is fixedly connected to the nearest intermediate plate 132. When the gripping mechanism 1 switches to the first state, the drive mechanism 2 drives the connecting plates 131 on both sides via the intermediate plate 132. This, in turn, causes the connecting plates 131 to move the mounting arm 11 fixedly connected to them and the clamping assembly 12 mounted on the mounting arm 11. Finally, the clamping assembly 12 moves the generator testing robot 3.

[0045] In some embodiments of this utility model, in order to facilitate user operation, the drive mechanism 2 is a telescopic electric push rod. When the clamping mechanism 1 is in the first state, the telescopic electric push rod can drive the generator detection robot 3 to move into the generator stator or move out of the generator stator.

[0046] In some embodiments of this utility model, as shown in the appendix Figure 2 As shown, the abutment plate 123 includes an abutment surface 1231 that abuts against the generator testing robot 3. A rubber pad is provided on the abutment surface 1231. On the one hand, it can prevent scratches or bumps to the inner wall of the main frame 31 of the generator testing robot 3 during movement, thus playing a protective role. On the other hand, it can increase the friction between the abutment plate 123 and the inner wall of the concave slide 311 of the generator testing robot 3, preventing the generator testing robot 3 from shifting or falling during clamping, and ensuring that the conveying process of the generator testing robot 3 is stable and reliable.

[0047] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. A gripper based on a generator testing robot, characterized in that, It includes a gripping mechanism and a driving mechanism, wherein the gripping mechanism is movable relative to the driving mechanism; The gripping mechanism has a first state of contact with the generator testing robot and a second state of separation from the generator testing robot. When the gripping mechanism is in the first state, the driving mechanism can drive the generator testing robot to move into the generator stator or move out of the generator stator.

2. The fixture based on the generator testing robot as described in claim 1, characterized in that, The gripping mechanism includes a mounting arm and a gripper assembly movably mounted on the mounting arm. The mounting arm is connected to the drive mechanism. The gripper assembly can move relatively close to or away from the generator detection robot, so that the gripping mechanism can switch between the first state and the second state.

3. The fixture based on the generator testing robot as described in claim 2, characterized in that, The number of mounting arms is two, and the end of the mounting arm is connected to the drive mechanism; The clamping assembly includes a drive component, a transmission rack, and an abutment plate. The drive component includes a motor and a gear. The motor is fixedly connected to the mounting arm, and the output shaft of the motor is driven by the gear. There are two transmission racks located on opposite sides of the gear and meshing with it. When the motor drives the gear to rotate, the two transmission racks move in opposite directions through the gear transmission. The abutment plate is connected to the end of the transmission rack so that when the racks move in opposite directions, the abutment plate can abut against or separate from the inner walls of the two concave slides of the generator detection robot.

4. The fixture based on the generator testing robot as described in claim 3, characterized in that, The mounting arm has a mounting groove at one end away from the drive mechanism, and the gear and at least part of the transmission rack are disposed in the mounting groove.

5. The fixture based on the generator testing robot as described in claim 2, characterized in that, The number of mounting arms is one, and the end of the mounting arm is connected to the drive mechanism. The clamping assembly includes clamping members for gripping both sides of the generator testing robot; or The number of mounting arms is two, and the ends of the mounting arms are connected to the drive mechanism. The clamping assembly includes clamping members and is used to clamp the outer walls of the two concave slides of the generator testing robot.

6. The fixture based on the generator testing robot as described in claim 2, characterized in that, It also includes at least one set of movable mechanisms, and the number of mounting arms is two. The movable mechanisms are used to movably connect the two mounting arms to adjust the position of the two mounting arms according to the internal curvature of the stator.

7. The fixture based on the generator testing robot as described in claim 6, characterized in that, The movable mechanism includes two connecting plates and a middle plate. One end of the connecting plate is fixedly connected to the inner wall of the mounting arm, and the middle plate is hinged between the two connecting plates. The drive mechanism is fixedly connected to the nearest intermediate plate.

8. The fixture based on the generator testing robot as described in claim 1, characterized in that, The driving mechanism is a retractable electric push rod. When the clamping mechanism is in the first state, the retractable electric push rod can drive the generator inspection robot to move into or out of the generator stator.

9. The fixture based on the generator testing robot as described in claim 3, characterized in that, The abutment plate includes an abutment surface that abuts against the generator testing robot, and a rubber pad is provided on the abutment surface.

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