CN114166932B - Nondestructive inspection robot for generator rotor guard ring - Google Patents
Nondestructive inspection robot for generator rotor guard ring Download PDFInfo
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- CN114166932B CN114166932B CN202111477091.4A CN202111477091A CN114166932B CN 114166932 B CN114166932 B CN 114166932B CN 202111477091 A CN202111477091 A CN 202111477091A CN 114166932 B CN114166932 B CN 114166932B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
- G01N27/90—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
- G01N27/9013—Arrangements for scanning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
- G01N27/90—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
- G01N27/9093—Arrangements for supporting the sensor; Combinations of eddy-current sensors and auxiliary arrangements for marking or for rejecting
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/28—Details, e.g. general constructional or apparatus details providing acoustic coupling, e.g. water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
- G01N2291/0234—Metals, e.g. steel
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- Chemical Kinetics & Catalysis (AREA)
- Acoustics & Sound (AREA)
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Abstract
The invention relates to a generator rotor guard ring nondestructive inspection robot which comprises a detection module, a driving module, a fastening connecting piece and a standard connecting piece, wherein the detection module is connected with the driving module; the standard connecting pieces are arranged in an arc-shaped structure, and the edges of the standard connecting pieces are located on the same virtual circumference. The two ends of the standard connecting piece are respectively provided with a fixed shaft and a semi-open hook claw which can be sleeved on the fixed shaft, wherein the fixed shaft is also sleeved with a roller for rolling on the guard ring; the plurality of driving modules are oppositely arranged on the virtual circumference center line, and the detection module, the driving module and the fastening connecting piece are respectively arranged between two adjacent standard connecting pieces. Above-mentioned generator rotor shroud ring nondestructive test robot wholly adopts the modularized design, and each module and connecting piece all can split alone and make up for the generator rotor shroud ring of adaptation different diameters, need not to take out the rotor shroud ring, and the articulated hasp formula structure between each connecting piece makes its installation of being convenient for and change each module and spare part.
Description
Technical Field
The invention relates to the field of detection robots, in particular to a generator rotor retaining ring nondestructive inspection robot.
Background
The generator guard ring is an important component of the generator rotor of a power station and is a high strength, non-magnetic, metallic annular member located at the end of the rotor. The rotor is mainly used for preventing the rotor component and the exciting winding from deformation, displacement and eccentricity under the action of electromagnetic force and high-speed centrifugal force. Because the rotation speed of the generator rotor is high and the centrifugal force is large, the guard ring always bears larger axial and circumferential stress, and stress corrosion cracks are easy to form. Meanwhile, the surface of the guard ring is cracked due to surface stress, corrosion, fatigue and other reasons; cracks can also be generated on the inner wall of the guard ring due to electric burn. If the microcracks are not found in time, the microcracks can be expanded along the radial direction under the centrifugal action, so that the protection ring can be broken, and serious accidents such as machine destruction, personal death and the like can be caused. Therefore, the guard ring flaw detection of the in-service generator set is very important for the safe operation of the set.
Traditional device for detecting rotor guard ring can not be directly applied in the generator, and it needs to draw out the generator rotor to detect a flaw to the rotor guard ring, detect inconvenient and the maintenance time is long.
Disclosure of Invention
In view of the above, it is necessary to provide a generator rotor grommet nondestructive inspection robot capable of performing inspection without extracting the generator rotor grommet.
The nondestructive inspection robot for the generator rotor retaining ring comprises a detection module, a driving module, a fastening connecting piece and a standard connecting piece; the standard connecting pieces are arranged in an arc-shaped structure, and the edges of the standard connecting pieces are positioned on the same virtual circumference; the two ends of the standard connecting piece are respectively provided with a fixed shaft and a semi-open hook claw which can be sleeved on the fixed shaft, wherein the fixed shaft is also sleeved with a roller for rolling on the guard ring; the driving modules are oppositely arranged through virtual circumference center lines, the detection modules, the driving modules and the fastening connecting pieces are respectively arranged between two adjacent standard connecting pieces, driving parts of the driving modules are attached to the surface of the guard ring, and two ends of the fastening connecting pieces are connected through first screws and used for adjusting the distance between two ends of the fastening connecting pieces.
Further, the robot further comprises an adjusting connecting piece, two ends of the adjusting connecting piece are arranged between two adjacent connecting pieces through a semi-open hook claw and a fixed shaft, and the two ends of the adjusting connecting piece are connected with each other through a tension spring.
Further, the robot further comprises a line concentration connecting piece, wherein two ends of the line concentration connecting piece are arranged between two adjacent connecting pieces through a semi-open hook claw and a fixed shaft, and the line concentration connecting piece is provided with a plug-in connector for plugging a wire; the middle hollow part of the line concentration connecting piece is provided with an encoder with a rubber wheel, and the rubber wheel is attached to the guard ring for measuring the rotation distance of the rubber wheel.
Further, the driving module comprises a body framework, a rotating motor and a crawler mechanism; two ends of the body framework are respectively connected with the two connecting pieces through the semi-open hook claw and the fixed shaft; the crawler is arranged on the body framework and is attached to the guard ring, and the rotating motor is used for providing power for the crawler.
Further, the body framework comprises an arch framework and a fixed bracket; the two fixing brackets are respectively hinged to two ends of the arch framework, the crawler mechanism is arranged on the arch framework, and the semi-open hook claw and the fixing shaft are respectively fixed on the two fixing brackets.
Further, a guide plate is arranged on one side of the arched framework, and is fixed on the two fixing brackets through a second screw rod and is attached to the outer edge of the guard ring.
Further, the detection module comprises a rectangular sliding piece formed by a plurality of guide rods, an auxiliary framework, a linear motor and a detection unit; the auxiliary framework is sleeved on the guide rod of the rectangular sliding piece, and two ends of the auxiliary framework are respectively connected with the semi-open hook claws of the two connecting pieces through the two fixing shafts; the linear motor is arranged on the auxiliary framework, and the movable end of the linear motor is fixed on the guide rod of the rectangular sliding piece through the clamp; the detection unit is mounted at one end of the rectangular slider.
Further, the rollers are fixed on the fixed shafts at the two ends of the auxiliary framework and used for balancing the distance between the two ends of the auxiliary framework and the guard ring.
Further, the auxiliary framework comprises a flat plate support and mounting supports arranged at two ends of the flat plate support, the mounting supports are only provided with the fixing shafts, and the mounting supports are connected with the flat plate support through third screws along the direction parallel to the virtual circumference radius.
Further, the one end that installs detecting element on the rectangle slider still installs the support module, the support module is the ball of taking elasticity, the ball inlays and installs on the rectangle slider to laminate with the shroud ring.
Above-mentioned generator rotor shroud ring nondestructive test robot wholly adopts the modularized design, and each module and connecting piece all can split alone and make up for the generator rotor shroud ring of adaptation different diameters, need not to take out the rotor shroud ring, and the articulated hasp formula structure between each connecting piece makes its installation of being convenient for and change each module and spare part.
Drawings
FIG. 1 is a schematic view of a robot in use;
FIG. 2 is a schematic diagram of the overall structure of a robot;
FIG. 3 is a schematic view of a standard connector;
FIG. 4 is a schematic view of the structure of the fastening connection;
FIG. 5 is a schematic view of the structure of the adjusting link;
FIG. 6 is a schematic structural view of a hub connection;
FIG. 7 is a schematic diagram of a driving module;
FIG. 8 is a schematic diagram of the front structure of the detection module;
fig. 9 is a schematic diagram of the back structure of the detection module.
In the figure: 100. a standard connector; 200. a driving module; 210. a body skeleton; 211. an arched framework; 212. a fixed bracket; 220. a crawler mechanism; 230. a rotating electric machine; 240. a guide plate; 250. a second screw; 300. a detection module; 310. a rectangular slider; 320. an auxiliary skeleton; 321. a flat plate bracket; 322. a mounting bracket; 330. a linear motor; 340. a detection unit; 350. a third screw; 400. fastening the connecting piece; 410. a first screw; 420. a limit rod; 500. adjusting the connecting piece; 510. a tension spring; 600. a hub connection; 610. a plug-in component; 620. an encoder.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-4, in one embodiment, a generator rotor grommet non-destructive inspection robot includes a detection module 300, a drive module 200, a fastening connection 400, and a standard connection 100; the standard connectors 100 are arranged in an arc-shaped structure, and the edges of the standard connectors 100 are positioned on the same virtual circumference; the two ends of the standard connecting piece 100 are respectively provided with a fixed shaft and a semi-open hook claw which can be sleeved on the fixed shaft, wherein the fixed shaft is also sleeved with a roller for rolling on the guard ring; the plurality of driving modules 200 are oppositely arranged with virtual circumference center lines, and the detection module 300, the driving module 200 and the fastening connection piece 400 are respectively installed between two adjacent standard connection pieces 100, the driving part of the driving module 200 is attached to the surface of the guard ring, and two ends of the fastening connection piece 400 are connected through a first screw 410 for adjusting the distance between two ends of the fastening connection piece 400.
When in installation, the semi-open hook claw of one module or connecting piece is used for hooking the fixed shaft of the other module or connecting piece, thereby completing movable connection between the two modules or connecting pieces. The other modules or connecting pieces are connected with each other in the way. At the time of actual inspection assembly, all modules and connectors are connected in order from the inspection module 300. After all modules are connected on the generator rotor guard ring, the first screw 410 in the middle of the fastening connection piece 400 is adjusted to tighten the whole robot so that the whole robot is firmly hooped on the generator rotor guard ring.
Above-mentioned generator rotor shroud ring nondestructive test robot wholly adopts the modularized design, and each module and connecting piece all can split alone and make up for the generator rotor shroud ring of adaptation different diameters, need not to take out the rotor shroud ring, and the articulated hasp formula structure between each connecting piece makes its installation of being convenient for and change each module and spare part. Through setting up the both ends of each module and connecting piece into half open type respectively and collude claw and can collude claw assorted fixed axle with half open type, structural design is simple for dismouting is more convenient between each module and the connecting piece. The roller is sleeved on the fixed shaft, so that the robot body is supported, the inner ring of the robot is prevented from being attached to the guard ring, and the robot is safer and more stable to use.
The fastening connection 400 can adjust the interval between the two ends by rotating the first screw 410 therein, thereby realizing the whole tightening and releasing of the robot. Meanwhile, the two ends of the fastening connection piece 400 are also connected through a plurality of limiting rods 420, so that the stability of the structure of the fastening connection piece 400 is ensured, and the middle first screw 410 is assisted to integrally tighten and release the robot.
As shown in fig. 5, in this embodiment, the robot further includes an adjusting connector 500, and two ends of the adjusting connector 500 are mounted between two adjacent connectors through a semi-open hook and a fixed shaft, and are further connected to each other through a tension spring 510. The length and the bending radian of the robot are adjusted by stretching the tension spring 510, so that the robot can better fit the rotor guard ring.
As shown in fig. 6, in this embodiment, the robot further includes a hub connector 600, two ends of the hub connector 600 are mounted between two adjacent connectors through a semi-open hook and a fixed shaft, and the hub connector 600 has a connector 610 for connecting wires; the hollow part in the middle of the hub connector 600 is provided with an encoder 620 with a rubber wheel, and the rubber wheel is attached to the guard ring for measuring the rotation distance of the rubber wheel.
Wherein the power lines, control lines, communication lines and sensor lines of all modules inside the robot are collected and then connected with an external controller through the connectors 610 on the connectors. The encoder 620 is used for measuring the circumferential rotation distance of the robot, and is matched with the controller to realize the rotation positioning of the robot. The encoder 620 is fixed to the central hollow area of the hub connector 600 using an elastic connection plate with torsion springs.
As shown in fig. 7, in the present embodiment, the driving module 200 includes a body skeleton 210, a rotating motor 230, and a crawler 220; two ends of the body framework 210 are respectively connected with two connecting pieces through a semi-open hook claw and a fixed shaft; the caterpillar mechanism 220 is mounted on the body frame 210 and is attached to the guard ring, and the rotary motor 230 is used to power the caterpillar mechanism 220. Wherein the rotating motor 230 represents a motor for driving rotation, and the rotating shaft of the rotating motor 230 is in transmission connection with the crawler 220 through a gear box.
In this embodiment, the body skeleton 210 includes an arch skeleton 211 and a fixing bracket 212; the two fixing brackets 212 are respectively hinged at two ends of the arch skeleton 211, the crawler 220 is installed on the arch skeleton 211, and the semi-open hook claw and the fixed shaft are respectively fixed on the two fixing brackets 212. This form ensures that the crawler 220 mounted on the arch frame 211 can be tightly pressed against the rotor guard ring when the robot is fastened, increasing friction and ensuring that the robot does not slip when it is rotated axially.
In this embodiment, a guide plate 240 is disposed on one side of the arch-shaped skeleton 211, and the guide plate 240 is fixed on the two fixing brackets 212 through a second screw 250 and is attached to the outer edge of the guard ring. When the robot completes the annular installation, the guide plate 240 is located at the outer edge of the rotor guard ring, and the function of the guide plate is to ensure that the robot does not deviate when the robot rotates circumferentially.
As shown in fig. 8 and 9, in the present embodiment, the detection module 300 includes a rectangular slider 310 composed of a plurality of guide rods, a sub-frame 320, a linear motor 330, and a detection unit 340; the auxiliary framework 320 is sleeved on the guide rod of the rectangular sliding piece 310, and two ends of the auxiliary framework 320 are respectively connected with the semi-open hook claws of the two connecting pieces through two fixed shafts; the linear motor 330 is mounted on the auxiliary skeleton 320, and the movable end of the linear motor 330 is fixed on the guide rod of the rectangular sliding piece 310 through a clamp; so that the rectangular slider 310 can slide back and forth at a uniform speed under the driving of the linear motor 330. The detecting unit 340 is installed at one end of the rectangular slider 310.
The detection unit 340 includes an ultrasonic probe, a couplant coating assembly, a couplant erasing assembly, and an eddy current inspection probe. The couplant smearing component and the couplant erasing component can adopt conventional extrusion structures in life, for example, the couplant is stored in a shell, and a hygroscopic piece which can be soaked by the couplant and can pass through is arranged on one surface of the shell, which is attached to the protective ring.
In this embodiment, the rollers are fixed on the fixed shafts at the two ends of the secondary frame 320, so as to balance the distance between the two ends of the secondary frame 320 and the guard ring. On the one hand, for supporting and driving the sub-frame 320 to move, and on the other hand, for ensuring the detection accuracy of the detection unit 340 mounted on the sub-frame 320. It should be noted that the rollers can be sleeved on all the fixed shafts.
In this embodiment, the sub-frame 320 includes a flat bracket 321 and mounting brackets 322 mounted at both ends of the flat bracket 321, the mounting brackets 322 are only mounted with the fixed shaft, and the mounting brackets 322 and the flat bracket 321 are connected by a third screw 350 along a direction parallel to a radius of the virtual circumference. For adjusting the height of the body frame 210 from the grommet surface.
In this embodiment, a support module is further mounted at one end of the rectangular sliding member 310, where the detection unit 340 is mounted, and the support module is an elastic ball, and the ball is embedded on the rectangular sliding member 310 and is attached to the guard ring. The whole mechanism is tightly contacted with the generator rotor guard ring, and the whole mechanism can flexibly slide on the surface of the guard ring.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (6)
1. The nondestructive inspection robot for the generator rotor retaining ring is characterized by comprising a detection module, a driving module, a fastening connecting piece and a standard connecting piece; the standard connecting pieces are arranged in an arc-shaped structure, and the edges of the standard connecting pieces are positioned on the same virtual circumference; the two ends of the standard connecting piece are respectively provided with a fixed shaft and a semi-open hook claw which can be sleeved on the fixed shaft, wherein the fixed shaft is also sleeved with a roller for rolling on the guard ring; the driving modules are oppositely arranged on the virtual circumference center line, the detection modules, the driving modules and the fastening connecting pieces are respectively arranged between two adjacent standard connecting pieces, the driving parts of the driving modules are attached to the surface of the guard ring, and the two ends of the fastening connecting pieces are connected through first screws and used for adjusting the distance between the two ends of the fastening connecting pieces;
the driving module comprises a body framework, a rotating motor and a crawler mechanism; two ends of the body framework are respectively connected with two standard connecting pieces through a semi-open hook claw and a fixed shaft; the crawler mechanism is arranged on the body framework and is attached to the guard ring, and the rotating shaft of the rotating motor is in transmission connection with the crawler mechanism through a gear box;
the body framework comprises an arch framework and a fixed bracket; the two fixing brackets are respectively hinged at two ends of the arch framework, the crawler mechanism is arranged on the arch framework, and the semi-open hook claw and the fixed shaft are respectively fixed on the two fixing brackets;
the robot further comprises an adjusting connecting piece, wherein two ends of the adjusting connecting piece are arranged between two adjacent connecting pieces through a semi-open hook claw and a fixed shaft and are connected with each other through a tension spring;
the detection module comprises a rectangular sliding piece formed by a plurality of guide rods, an auxiliary framework, a linear motor and a detection unit; the auxiliary framework is sleeved on the guide rod of the rectangular sliding piece, and two ends of the auxiliary framework are respectively connected with the semi-open hook claws of the two connecting pieces through the two fixing shafts; the linear motor is arranged on the auxiliary framework, and the movable end of the linear motor is fixed on the guide rod of the rectangular sliding piece through the clamp; the detection unit is installed at one end of the rectangular sliding piece, wherein the detection unit comprises an ultrasonic probe, a couplant smearing assembly, a couplant erasing assembly and an eddy current flaw detection probe.
2. The generator rotor shroud ring nondestructive inspection robot of claim 1, further comprising a line concentration connecting piece, wherein two ends of the line concentration connecting piece are arranged between two adjacent connecting pieces through a semi-open hook claw and a fixed shaft, and the line concentration connecting piece is provided with a plug connector for plugging a wire; the middle hollow part of the line concentration connecting piece is provided with an encoder with a rubber wheel, and the rubber wheel is attached to the guard ring for measuring the rotation distance of the rubber wheel.
3. The generator rotor shroud ring nondestructive inspection robot of claim 1, wherein a guide plate is arranged on one side of the arched framework, and the guide plate is fixed on the two fixed supports through a second screw rod and is attached to the outer edge of the shroud ring.
4. The robot for nondestructive inspection of a generator rotor shroud ring according to claim 1, wherein the rollers are fixed on fixed shafts at both ends of the secondary skeleton, and are used for balancing the distance between both ends of the secondary skeleton and the shroud ring.
5. The generator rotor grommet nondestructive inspection robot according to claim 1, wherein the sub-frame comprises a flat plate bracket and mounting brackets mounted at both ends of the flat plate bracket, the mounting brackets are only provided with the fixed shaft, and the mounting brackets and the flat plate bracket are connected by a third screw rod along a direction parallel to a virtual circumference radius.
6. The generator rotor shroud ring nondestructive inspection robot of claim 1, wherein one end of the rectangular sliding piece provided with the detection unit is further provided with a support module, the support module is a ball with elasticity, and the ball is embedded on the rectangular sliding piece and is attached to the shroud ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111477091.4A CN114166932B (en) | 2021-12-06 | 2021-12-06 | Nondestructive inspection robot for generator rotor guard ring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111477091.4A CN114166932B (en) | 2021-12-06 | 2021-12-06 | Nondestructive inspection robot for generator rotor guard ring |
Publications (2)
| Publication Number | Publication Date |
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| CN114166932A CN114166932A (en) | 2022-03-11 |
| CN114166932B true CN114166932B (en) | 2023-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111477091.4A Active CN114166932B (en) | 2021-12-06 | 2021-12-06 | Nondestructive inspection robot for generator rotor guard ring |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114858105A (en) * | 2022-03-17 | 2022-08-05 | 广东省科学院工业分析检测中心 | Opening-adjustable clamping detection device and detection system |
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| JP2006170685A (en) * | 2004-12-14 | 2006-06-29 | Central Res Inst Of Electric Power Ind | Automatic ultrasonic flaw detector for tubular structure |
| KR20110001773A (en) * | 2009-06-30 | 2011-01-06 | 한국전력공사 | Automatic rotating inspection equipment for generator rotor retaining ring |
| CN106770662A (en) * | 2017-02-16 | 2017-05-31 | 沈阳工业大学 | Tower barrel of wind generating set line flaw detection device |
| CN111845993A (en) * | 2020-08-21 | 2020-10-30 | 无锡中车时代智能装备有限公司 | Rotor crawling type generator bore detection robot device |
| CN113267563A (en) * | 2021-05-25 | 2021-08-17 | 中核核电运行管理有限公司 | Ultrasonic scanning device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8061208B2 (en) * | 2009-04-29 | 2011-11-22 | Westinghouse Electric Company Llc | Non-destructive pipe scanner |
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2021
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| JP2006170685A (en) * | 2004-12-14 | 2006-06-29 | Central Res Inst Of Electric Power Ind | Automatic ultrasonic flaw detector for tubular structure |
| KR20110001773A (en) * | 2009-06-30 | 2011-01-06 | 한국전력공사 | Automatic rotating inspection equipment for generator rotor retaining ring |
| CN106770662A (en) * | 2017-02-16 | 2017-05-31 | 沈阳工业大学 | Tower barrel of wind generating set line flaw detection device |
| CN111845993A (en) * | 2020-08-21 | 2020-10-30 | 无锡中车时代智能装备有限公司 | Rotor crawling type generator bore detection robot device |
| CN113267563A (en) * | 2021-05-25 | 2021-08-17 | 中核核电运行管理有限公司 | Ultrasonic scanning device |
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| Title |
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| Innovative robotic technology for monitoring the integrity of generator retaining rings;Mark SAVENKOV, et al.;《 2015 IEEE Far East NDT New Technology & Application Forum (FENDT)》;第1-4页 * |
| 发电机护环端头裂纹超声波探伤方法;宋绍河 等;《无损检测》;第35卷(第5期);第12-14、74页 * |
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