A seventh shaft device suitable for repairing movable guide vanes of a hydroelectric unit

Abstract

The utility model discloses a kind of seventh shaft devices suitable for hydroturbine movable guide vane repair, including top plate, two support rods are fixedly installed in top plate lower side, the lower end of two support rods is fixedly installed with bottom plate, jacking device is provided in bottom plate lower side, the same side of top plate and bottom plate is fixedly installed with side plate;It further includes robot mounting seat, robot mounting seat includes horizontal seat and longitudinal seat, longitudinal seat is fixedly connected in the upper side or lower side of horizontal seat, the both ends of horizontal seat are respectively slidably connected with two support rods, longitudinal seat is slidably connected with side plate by sliding structure;Driving device is also installed on side plate, driving device is connected with robot mounting seat, to drive robot mounting seat lifting operation. When using, six-axis robot is installed on robot mounting seat, robot mounting seat is driven to lift by driving device, to drive six-axis robot to lift, so that six-axis robot can comprehensively carry out movable guide vane repair operation.

Description

Technical Field

[0001] This utility model relates to the technical field of auxiliary equipment for hydropower station maintenance, and in particular to a seventh shaft device suitable for repairing the movable guide vanes of hydropower units. Background Technology

[0002] During the repair of movable guide vanes in hydropower units, the limited space for the movable guide vanes to enter and exit (access channel is only φ650mm) and the radial distance between the movable and fixed guide vanes is only 490mm make the working space extremely small and unsuitable for long-term manual operation. Therefore, when repairing the movable guide vanes of hydropower units, it is planned to use a six-axis robot. However, due to the height of the movable guide vanes, the arm span of a six-axis robot suitable for the internal space is insufficient. In order to enable the six-axis robot to comprehensively repair the movable guide vanes, we propose a seventh-axis device suitable for the repair of movable guide vanes of hydropower units. Utility Model Content

[0003] The technical problem to be solved by this utility model is to address the problems existing in the background art and provide a seventh-axis device suitable for repairing movable guide vanes of hydroelectric generators. In use, a six-axis robot is installed on a robot mounting base, and the robot mounting base is driven to rise and fall by a drive device, thereby driving the six-axis robot to rise and fall, so that the six-axis robot can perform comprehensive repair work on the movable guide vanes.

[0004] The purpose of this utility model is achieved as follows: a seventh shaft device suitable for repairing the movable guide vanes of a hydroelectric generator unit, including a top plate, two support rods fixedly installed on the lower side of the top plate, a bottom plate fixedly installed at the lower end of the two support rods, a lifting device provided on the lower side of the bottom plate, and a side plate fixedly installed on the same side of the top plate and the bottom plate. It also includes a robot mounting base, which includes a horizontal base and a vertical base. The vertical base is fixed to the upper or lower side of the horizontal base. The two ends of the horizontal base are slidably connected to two support rods respectively. The vertical base is slidably connected to the side plate through a sliding structure. A drive device is also installed on the side plate. The drive device is connected to the robot mounting base to drive the robot mounting base to move up and down.

[0005] Two first positioning sleeves are fixed on the lower side of the top plate, and the upper end of the support rod is inserted into the first positioning sleeves for fixation.

[0006] The lower end of the support rod is provided with a flange, which is fixed to the base plate by bolts. Linear bearings are installed at both ends of the transverse seat, and the support rod slides through the linear bearings.

[0007] The sliding structure includes linear guide rails and sliders. Two linear guide rails are installed parallel to each other on the side plate, and at least one slider is installed on each linear guide rail. The sliders are connected to the longitudinal seat.

[0008] The drive device includes a ball screw and a servo motor. Bearing seats are installed at both ends of the ball screw. The two bearing seats are installed at the upper and lower ends of the side plate, respectively. The servo motor is fixedly installed on the side plate. The output shaft of the servo motor is connected to one end of the ball screw for transmission. A ball screw nut seat is installed on the longitudinal seat. The ball screw nut seat is screwed into the ball screw.

[0009] A lifting plate is also fixedly connected to the lower side of the base plate via a support plate. The lifting plate is fixedly connected to the side plate. At least two casters are installed on the lower side of the lifting plate. The lifting device is located on the lower side of the lifting plate.

[0010] The lifting device includes two jacks.

[0011] Two first connecting rings are fixed on the lower side of the base plate. The two first connecting rings are coaxial with the support rod. The lifting device includes two jacks. The top of the extended end of the jack is inserted into the first connecting ring. The first fastener passes through the first connecting ring and the telescopic end of the jack.

[0012] The lifting plate has two second connecting rings at its lower ends. The lifting device includes two jacks. The top of the telescopic end of the jack extends into the second connecting ring. The second fastener passes through the second connecting ring and the telescopic end of the jack.

[0013] The features of this utility model using the above-mentioned technical solution are: 1. The top plate of this utility model has a certain width and is used to support the lower side of the top cover. The lifting device is placed on the bottom ring and is used to lift the bottom plate, thereby fixing the seventh axis device between the top cover and the bottom ring. The six-axis robot is installed on the robot mounting base. The robot mounting base is guided by the support rod and the sliding structure, which has better stability. The robot mounting base is driven to rise and fall by the drive device, so as to drive the six-axis robot to rise and fall, thereby enabling the six-axis robot to perform comprehensive repair work on the movable guide vane.

[0014] 2. This utility model features a lifting plate with two casters installed on its underside. This allows the lifting device to be shortened when the work position is changed, so that the casters are supported on the bottom ring, thus facilitating the movement of the device. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0016] Figure 1This is a schematic diagram of the main structure of the first embodiment of the present invention.

[0017] Figure 2 This is a three-dimensional structural diagram of the first embodiment of the present utility model.

[0018] Figure 3 This is a schematic diagram of the main structure of the second embodiment of the present invention.

[0019] Figure 4 This is a schematic diagram of the bottom structure of the lifting plate in the second embodiment of the present invention.

[0020] Figure 5 This is a diagram showing the state of the device during its lifting and fixing in the second embodiment of this utility model.

[0021] Figure 6 This is a state diagram of the device when it is moving to a different working position in the second embodiment of this utility model.

[0022] Figure 7 This is a side view of the device when it is moving to a different working position in the second embodiment of the present invention.

[0023] Figure 8 This is a schematic diagram of the tilting state of the device when it is moved to a different working position in the second embodiment of this utility model.

[0024] Figure 9 This is an installation diagram for use of this utility model.

[0025] Figure label: Top cover 1, bottom ring 2; Top plate 10, first positioning sleeve 11; Support rod 20, flange 21; Base plate 30, first connecting ring 31, first fastener 32; Side panel 40; Sliding structure 50, linear guide rail 51; Drive unit 60, ball screw 61, bearing housing 62, servo motor 63; Robot mounting base 70, horizontal base 71, vertical base 72, linear bearing 73; Lifting device 80; Lifting plate 90, support plate 91, second connecting ring 92, second fastener 93; Casters 100. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] It should be noted that the use of terms such as "an embodiment," "an embodiment," "an exemplary embodiment," and "some embodiments" in the specification indicates that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the art.

[0028] Example 1: See Figure 1-2 A seventh shaft device suitable for repairing movable guide vanes of hydropower units includes a top plate 10, two support rods 20 are fixedly installed on the lower side of the top plate 10, a bottom plate 30 is fixedly installed on the lower end of the two support rods 20, a lifting device 80 is provided on the lower side of the bottom plate 30, and a side plate 40 is fixedly installed on the same side of the top plate 10 and the bottom plate 30. It also includes a robot mounting base 70, which includes a transverse base 71 and a longitudinal base 72. The longitudinal base 72 is fixed to the upper or lower side of the transverse base 71. The two ends of the transverse base 71 are slidably connected to two support rods 20 respectively. The longitudinal base 72 is slidably connected to the side plate 40 through a sliding structure 50. A drive unit 60 is also installed on the side plate 40. The drive unit 60 is connected to the robot mounting base 70 to drive the robot mounting base 70 to move up and down.

[0029] Top plate 10 has a certain width, see Figure 5 , 9 The top plate 10 is used to support the underside of the top cover 1. The lifting device 80 is placed on the bottom ring 2 and is used to lift the bottom plate 30, thereby fixing the seventh axis device between the top cover 1 and the bottom ring 2. The six-axis robot is mounted on the robot mounting base 70. The robot mounting base 70 is guided by the support rod 20 and the sliding structure 50, which improves stability. The robot mounting base 70 is driven to rise and fall by the drive device 60, thereby driving the six-axis robot to rise and fall, so that the six-axis robot can perform comprehensive repair work on the movable guide vanes.

[0030] In use, the robot mounting base 70 is provided with threaded holes for matching the mounting holes on the six-axis robot base.

[0031] See Figure 1 , 2 Two first positioning sleeves 11 are fixedly installed on the lower side of the top plate 10, and the upper end of the support rod 20 is inserted into the first positioning sleeves 11 for fixation. Specifically, the support rod 20 and the first positioning sleeves 11 are interference-fitted.

[0032] A flange 21 is provided at the lower end of the support rod 20, and the flange 21 is fixed to the base plate 30 by bolts. Further, see Figure 2 Linear bearings 73 are installed at both ends of the transverse seat 71, and the support rod 20 slides through the linear bearings 73.

[0033] See Figure 2 The sliding structure 50 includes linear guide rails 51 and sliders. Two linear guide rails 51 are mounted in parallel on the side plate 40. At least one slider is mounted on each linear guide rail 51. The sliders are connected to the longitudinal seat 72 by screws.

[0034] See Figure 1 The drive unit 60 includes a ball screw 61 and a servo motor 63. Bearing seats 62 are mounted on both ends of the ball screw 61, and these two bearing seats 62 are respectively mounted on the upper and lower ends of the side plate 40. The servo motor 63 is fixedly mounted on the side plate 40, and its output shaft is connected to one end of the ball screw 61 via a coupling. A ball screw nut seat is mounted on the longitudinal seat 72, and it is screwed onto the ball screw 61. (The ball screw nut seat is not shown in the figure. It is existing technology. Specifically, for installation, an ear plate can be welded to the side of the longitudinal seat 72 near the side plate 40. The ball screw nut seat is mounted on the ear plate with screws. The ear plate has a hole through which the ball screw 61 passes, thus screwing the ball screw 61 onto the ball screw nut seat. When the servo motor 63 drives the ball screw 61 to rotate, the fixed ball screw nut seat drives the robot mounting base 70 to move up and down.)

[0035] In this embodiment, the lifting device 80 includes two jacks. In one embodiment, when in use, the jacks are supported on the underside of the base plate 30, and when not in use, the jacks are separated from the base plate 30.

[0036] In another option, see Figure 1 Two first connecting rings 31 are fixedly installed on the lower side of the base plate 30. The two first connecting rings 31 are coaxial with the support rod 20. The lifting device 80 includes two jacks. The top of the protruding end of the jack is inserted into the first connecting ring 31. The first fastener 32 passes through the first connecting ring 31 and the telescopic end of the jack. The jacks are connected to the lower side of the base plate 30 through the above structure.

[0037] In this embodiment, the jack can be a screw jack or a manual hydraulic jack.

[0038] Example 2: The difference between this embodiment and Embodiment 1 is that, see [link to Embodiment 1] Figure 3 , 4 A lifting plate 90 is fixedly connected to the underside of the base plate 30 via a support plate 91. The lifting plate 90 is fixedly connected to the side plate 40. At least two casters 100 are installed on the underside of the lifting plate 90, and the lifting device 80 is located below the lifting plate 90. By setting up the lifting plate 90 and installing two casters 100 on its underside, the lifting device 80 can be shortened when moving to a different work position, allowing the casters 100 to be supported on the bottom ring 2, thus facilitating the movement of the device. Two casters 100 can be installed, or four can be installed depending on the site conditions. The casters 100 are existing directional casters.

[0039] Similarly, in this embodiment, the lifting device 80 includes two jacks. In one embodiment, when in use, the jacks are supported on the underside of the lifting plate 90, and when not in use, the jacks are separate from the lifting plate 90.

[0040] In another option, see Figure 3 , 4 The lifting plate 90 has two second connecting rings 92 at its lower ends. The lifting device 80 includes two jacks, the top of which extends into the second connecting rings 92. The second fastener 93 passes through the second connecting rings 92 and the extension ends of the jacks. The jacks are connected to the lower side of the lifting plate 90 through the above structure.

[0041] The jack can be a screw jack or a manual hydraulic jack.

[0042] The working principle or working process of this utility model: When using, please refer to Figure 9 The top plate 10 is supported on the lower side of the top cover 1. The lifting device 80 is placed on the bottom ring 2. The lifting device 80 lifts the lifting plate 90, thereby fixing the seventh axis device between the top cover 1 and the bottom ring 2. The six-axis robot is mounted on the robot mounting base 70. The robot mounting base 70 is driven to rise and fall by the drive device 60, thereby driving the six-axis robot to rise and fall, so that the six-axis robot can perform comprehensive repair work on the movable guide vane. At this time, the state of the seventh axis device is as follows: Figure 5 As shown.

[0043] When it is necessary to move the maintenance location, such as Figure 6 , 7As shown, retract the jack, lower the seventh axis device by 10-20mm, and let the caster 100 support the bottom ring 2. Then, remove the jack from the bottom ring 2. At this point, the seventh axis device can be moved slowly.

[0044] See Figure 8 Since the top plate 10 has a certain width, as long as the height from the bottom of the caster 100 to the top of the top plate 10 is controlled to be 10~20mm lower than the distance between the top cover 1 and the bottom ring 2, the seventh axis device can be prevented from tipping over during movement.

[0045] While specific embodiments of the present invention have been described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and not intended to limit the scope of the present invention. Any modifications and variations made by those skilled in the art in accordance with the spirit of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A seventh-shaft device suitable for repairing movable guide vanes of hydroelectric generator units, characterized in that: Includes a top plate (10), two support rods (20) are fixedly installed on the lower side of the top plate (10), a bottom plate (30) is fixedly installed at the lower end of the two support rods (20), a lifting device (80) is provided on the lower side of the bottom plate (30), and a side plate (40) is fixedly installed on the same side of the top plate (10) and the bottom plate (30). It also includes a robot mounting base (70), which includes a transverse base (71) and a longitudinal base (72). The longitudinal base (72) is fixed to the upper or lower side of the transverse base (71). The two ends of the transverse base (71) are slidably connected to two support rods (20) respectively. The longitudinal base (72) is slidably connected to the side plate (40) through a sliding structure (50). A drive device (60) is also installed on the side plate (40). The drive device (60) is connected to the robot mounting base (70) to drive the robot mounting base (70) to move up and down.

2. The seventh shaft device for repairing movable guide vanes of hydroelectric generator units according to claim 1, characterized in that: Two first positioning sleeves (11) are fixed on the lower side of the top plate (10), and the upper end of the support rod (20) is inserted into the first positioning sleeves (11) for fixation.

3. The seventh shaft device for repairing movable guide vanes of hydroelectric generator units according to claim 1, characterized in that: The lower end of the support rod (20) is provided with a flange (21), and the flange (21) is fixed to the base plate (30) by bolts.

4. The seventh shaft device for repairing movable guide vanes of hydroelectric generator units according to claim 1, characterized in that: Linear bearings (73) are installed at both ends of the transverse seat (71), and the support rod (20) slides through the linear bearings (73).

5. A seventh shaft device for repairing movable guide vanes of hydroelectric generator units according to claim 1, characterized in that: The sliding structure (50) includes linear guide rails (51) and sliders. Two linear guide rails (51) are installed in parallel on the side plate (40). At least one slider is installed on each linear guide rail (51), and the slider is connected to the longitudinal seat (72).

6. A seventh shaft device for repairing movable guide vanes of hydroelectric generator units according to claim 1, characterized in that: The drive device (60) includes a ball screw (61) and a servo motor (63). Bearing seats (62) are installed at both ends of the ball screw (61). The two bearing seats (62) are installed at the upper and lower ends of the side plate (40) respectively. The servo motor (63) is fixedly installed on the side plate (40). The output shaft of the servo motor (63) is connected to one end of the ball screw (61) for transmission. A ball screw nut seat is installed on the longitudinal seat (72). The ball screw nut seat is screwed into the ball screw (61).

7. A seventh shaft device for repairing movable guide vanes of hydroelectric generator units according to claim 1, characterized in that: The bottom plate (30) is also fixedly connected to the lifting plate (90) via the support plate (91). The lifting plate (90) is fixedly connected to the side plate (40). At least two casters (100) are installed on the lower side of the lifting plate (90). The lifting device (80) is located on the lower side of the lifting plate (90).

8. A seventh shaft device for repairing movable guide vanes of hydroelectric generator units according to claim 1 or 7, characterized in that: The lifting device (80) includes two jacks.

9. A seventh shaft device for repairing movable guide vanes of a hydroelectric generator unit according to claim 1, characterized in that: Two first connecting rings (31) are fixed on the lower side of the base plate (30). The two first connecting rings (31) are coaxial with the support rod (20). The lifting device (80) includes two jacks. The top of the extended end of the jack is inserted into the first connecting ring (31). The first fastener (32) passes through the first connecting ring (31) and the telescopic end of the jack.

10. A seventh shaft device for repairing movable guide vanes of a hydroelectric generator unit according to claim 7, characterized in that: The lifting plate (90) has two second connecting rings (92) at its lower ends. The lifting device (80) includes two jacks. The top of the telescopic end of the jack extends into the second connecting ring (92). The second fastener (93) passes through the second connecting ring (92) and the telescopic end of the jack.

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