Miniaturized stator cleaning device and method

Abstract

The invention discloses a miniaturized stator cleaning device and method. Comprising a frame module, a driving module, a magnetic adsorption module, an operation tool module and a plane positioning module. The driving module is used for driving the stator cleaning device to perform position adjustment on a stator wall surface, the magnetic adsorption module is used for activating or releasing adsorption of the stator cleaning device on the stator wall surface, the operation tool module is used for cleaning the stator wall surface and a stator hole, and the plane positioning module is used for carrying and moving the operation tool module on a positioning plane. According to the stator cleaning device, through the mode of global movement coarse positioning, magnetic attraction anchoring and local precise positioning cleaning, stator hole cleaning of the whole wall face is provided under the condition that miniaturization and light weight of the whole device are successfully achieved.

Description

Technical Field

[0001] The invention relates to the technical field of stator cleaning, and in particular to a miniaturized stator cleaning device and method. Background Art

[0002] The hydroelectric generator set is the core equipment of hydroelectric power generation, and its main components include generators and turbines. The generator is equipped with carbon brushes, rotors and stators. During long-term operation, the heat generated by the generator will cause the oil to decompose and generate sediment, and the wear of the carbon brushes will also cause carbon powder to be generated. Excessive accumulation of these impurities will cause the generator to overheat, reduce its power generation efficiency, and may even cause the generator to shut down. Therefore, regular cleaning of the generator becomes a necessary operation, among which cleaning the stator core winding is a key link.

[0003] The cleaning process usually requires the rotor to be pulled out and the stator core winding to be chemically cleaned with an electrical cleaning agent, with a focus on cleaning the ventilation holes between the channel steel and the silicon steel sheet, which are evenly distributed on the inner wall of the stator. This cleaning operation is usually done manually, but because the electrical cleaning agent is slightly toxic, it will be inhaled in the form of an aerosol during operation, posing a potential risk to the health of the operators. In order to reduce the harm, continuous operation must be avoided during the cleaning process, which usually requires frequent shifts of professionals, resulting in low cleaning efficiency and failure to effectively protect the health and safety of the operators.

[0004] Existing technology, the existing stator cleaning technology has many shortcomings. First of all, in terms of cleaning effect, for stators with complex structures and many grooves, gaps or tiny holes, the existing technology is often unable to thoroughly clean all parts. For example, the gap between the laminations of the stator core and the winding gap of the winding are difficult for the cleaning liquid or cleaning tools to fully penetrate, resulting in residual dirt. Secondly, due to the limitations of equipment design or operation methods, there may be cleaning dead corners in some stator cleaning processes. Taking fixed nozzle cleaning as an example, some surface areas cannot be directly sprayed with cleaning liquid, which affects the cleaning effect. Finally, the existing stator cleaning device has defects such as overall size, weight, and excessive power consumption. In the actual cleaning process, it is easy to fall and damage the stator itself. A series of problems. Therefore, the device needs to ensure that the whole machine is lightweight and miniaturized under the premise of achieving multiple and large-area stator deep hole cleaning. Summary of the invention

[0005] In order to solve the problems existing in the background technology, the present invention provides a miniaturized stator cleaning device and method. The stator cleaning device of the present invention is used for cleaning metal wall surfaces, and has the characteristics of being small and lightweight. The stator cleaning device of the present invention can realize global movement and magnetic adsorption fixation along the stator wall surface, as well as realize the shooting, fine positioning, precise delivery of detergent and deep cleaning of local stator micro holes.

[0006] The technical solution adopted by the present invention is:

[0007] 1. A miniaturized stator cleaning device

[0008] The stator cleaning device comprises:

[0009] A frame module, comprising a frame and a plurality of rollers, wherein the rollers are mounted on the frame;

[0010] A driving module, mounted on the frame, for driving the stator cleaning device to move on the stator wall surface;

[0011] A magnetic adsorption module, mounted on the frame, for activating or releasing the adsorption of the stator cleaning device on the stator wall;

[0012] A working tool module, used for cleaning the stator hole, comprises at least one working tool and a working drive motor, each working drive motor is connected to the corresponding working tool by transmission, and drives the working tool to perform telescopic movement in a direction perpendicular to the stator wall surface;

[0013] The plane positioning module is installed on the frame and is used to carry and move the working tool module. The working driving motor is installed on the plane positioning module.

[0014] The driving module includes a moving unit and a wall-attaching unit; the moving unit and the wall-attaching unit each include at least one pair of rotors, and each pair of rotors consists of two rotors symmetrically arranged on both sides of a frame; the wall-attaching unit also includes a rotor steering motor, and the number of rotors in the rotor steering motor and the wall-attaching unit is the same and one-to-one corresponding, and the rotor steering motor is installed on the frame and is transmission-connected to the corresponding rotor.

[0015] The magnetic adsorption module includes at least one pair of magnetic adsorption components; each magnetic adsorption component is mainly composed of a steering gear and a magnetic adsorption block, the steering gear is connected to the frame, and the output shaft of the steering gear is connected to the magnetic adsorption block. When the steering gear is used to make the magnetic adsorption block face and contact the stator wall, the adsorption of the stator cleaning device on the stator wall can be activated, and when the steering gear is used to make the magnetic adsorption block away from the stator wall, the adsorption of the stator cleaning device on the stator wall can be released.

[0016] In the working tool module, the working tools include a camera tool, an atomizing spray tool and a cleaning tool. The three working drive motors are all linear through-type motors, and the bodies of the three working drive motors are all connected to the movable end of the plane positioning module; the working tool module also includes an air tank and a conduit. The air tank is installed on the frame, and the air tank is connected to the atomizing spray tool through the conduit.

[0017] Optionally, the plane positioning module includes a transverse tool carrying platform, a Y-axis lead screw motor, a Y-axis lead screw, a Y-motion subframe, an X-axis rack, a gear and a gear drive motor; at least one gear is provided at each end of the Y-axis subframe in the Y direction, at least one X-axis rack is provided at each end of the frame in the Y direction, the X-axis rack is arranged along the X direction perpendicular to the Y direction, the number of the gears and the X-axis racks is the same and one-to-one corresponding, and the gear is meshed with the corresponding X-axis rack; at least one Y-axis lead screw is installed on the Y-motion subframe, the Y-axis lead screw is parallel to the Y direction, at least one guide hole is provided on the transverse tool carrying platform, the number of the Y-axis lead screw and the guide hole is the same and one-to-one corresponding, the guide hole is sleeved on the outer side of the corresponding Y-axis lead screw and is spirally matched with the corresponding Y-axis lead screw; the Y-motion subframe is slidably connected to the frame, and the transverse tool carrying platform is connected to the operation drive motor; the gear drive motor and the Y-axis lead screw motor are installed on the Y-motion subframe, which are used to drive the gear and the Y-axis lead screw respectively; the X direction and the Y direction are both parallel to the positioning plane.

[0018] Optionally, the plane positioning module includes a robot arm primary motor, a robot arm primary connecting rod, a robot arm secondary motor, a robot arm secondary connecting rod and a circular tool carrying platform. The robot arm primary motor is fixedly connected to the frame, the output shaft of the robot arm primary motor is transmission-connected to the head end of the robot arm primary connecting rod, the end of the robot arm primary connecting rod is connected to the robot arm secondary motor, the output shaft of the robot arm secondary motor is transmission-connected to the head end of the robot arm secondary connecting rod, the end of the robot arm secondary connecting rod is connected to the circular tool carrying platform, and the circular tool carrying platform is connected to the operation drive motor as the movable end of the plane positioning module.

[0019] 2. A stator cleaning method using the above stator cleaning device

[0020] The stator cleaning method comprises the following steps:

[0021] S1) using a driving module to drive the stator cleaning device to perform global motion on the stator wall surface, so that the stator cleaning device moves to a position to be cleaned;

[0022] In step S1, the global motion includes up and down motion and lateral position adjustment; the process of using the driving module to drive the stator cleaning device to move up and down on the stator wall surface is specifically: using the two rotors in the same pair of rotors in the mobile unit to generate the same lift; the process of using the driving module to drive the stator cleaning device to adjust the lateral position on the stator wall surface is specifically: using the two rotors in the same pair of rotors in the mobile unit to generate different lifts.

[0023] S2) after the stator cleaning device moves to the position to be cleaned, the magnetic adsorption module is used to activate the adsorption of the stator cleaning device on the stator wall surface, and the driving module is closed;

[0024] In the step S2, the magnetic attraction block is made to face and contact the stator wall surface by using the steering gear, so as to activate the adsorption of the stator cleaning device on the stator wall surface.

[0025] S3) using the plane positioning module to adjust the position of the working tool module on the positioning plane, and using the working tool to operate the stator hole on the stator wall surface;

[0026] In the step S3, the process of operating the stator hole is specifically as follows: using the plane positioning module to move the operating tool module, so that the camera tool, the atomizing spray tool, and the cleaning tool are sequentially extended into the stator hole, and the shooting operation, the cleaning agent atomizing spray operation, and the cleaning operation are sequentially performed. Specifically: using the plane positioning module to move the operating tool module, so that the camera tool is facing the current stator hole, using the corresponding linear through-type motor, driving the camera tool to extend into the current stator hole and perform the shooting operation, and retracting the camera tool after the shooting operation is completed; using the plane positioning module to move the operating tool module, so that the atomizing spray tool is facing the current stator hole, using the linear through-type motor corresponding to the atomizing spray tool to drive the atomizing spray tool to extend into the current stator hole and perform the cleaning agent atomizing spray operation, and retracting the atomizing spray tool after the cleaning agent atomizing spray operation is completed; using the plane positioning module to move the operating tool module, so that the cleaning tool is facing the current stator hole, using the linear through-type motor corresponding to the cleaning tool to drive the cleaning tool to extend into the current stator hole and perform the cleaning operation, and retracting the cleaning tool after the cleaning operation is completed.

[0027] S4) After the operation is completed, the driving module is turned on, and the magnetic adsorption module is used to release the adsorption of the stator cleaning device on the stator wall surface;

[0028] In the step S4, the magnetic block is moved away from the stator wall by using the steering gear, so as to release the adsorption of the stator cleaning device on the stator wall.

[0029] S5) Repeat steps S1 to S4 until the operation is completed.

[0030] The beneficial effects of the present invention are:

[0031] 1. The stator cleaning device provided by the present invention has a compact structure and a light weight. It can realize global movement by means of rotor drive. It can realize adsorption of the device on the metal wall by means of adjustable magnetic attraction and rigid support in the weight direction of micro-protrusions. It is equipped with a two-degree-of-freedom local positioning module, which can realize precise positioning within a small range. It is equipped with three tools for photographing and cleaning the stator holes.

[0032] 2. The stator cleaning method provided by the present invention provides stator deep hole cleaning of the entire wall surface through a mode of global mobile coarse positioning-magnetic anchoring-local precise positioning cleaning, successfully realizing the miniaturization and lightweight of the overall device. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of a stator cleaning device equipped with an XY configuration local positioning module in the present invention;

[0034] Figure 2 It is a structural schematic diagram of a stator cleaning device equipped with a Scara configuration local positioning module in the present invention;

[0035] Figure 3 Schematic diagram of differential operation of the stator cleaning device equipped with an XY configuration local positioning module in the present invention; wherein (a) is a schematic diagram of vertical movement, and (b) is a schematic diagram of differential steering based on rotors;

[0036] Figure 4 It is a schematic diagram of the magnetic fixed state and the moving state of the stator cleaning device of the present invention;

[0037] Figure 5 A schematic diagram of the working tool and the working process of the stator cleaning device equipped with an XY configuration local positioning module in the present invention;

[0038] Figure 6 It is a schematic diagram of the telescopic principle of the working tool in the present invention.

[0039] Among them, 1. frame, 2. roller, 3. rotor, 4. rotor support, 5. servo, 6. magnetic block, 7. rotor steering motor, 8. main control module, 9. power module, 10. gas tank, 11. catheter, 12. camera tool, 13. atomizing spray tool, 14. cleaning tool, 15. horizontal tool carrying platform, 16. Y-axis screw motor, 17. Y-axis screw, 18. Y motion subframe, 19. X-axis rack, 20. gear, 21. gear drive motor , 22. Robot arm primary motor, 23. Robot arm primary connecting rod, 24. Robot arm secondary motor, 25. Robot arm secondary connecting rod, 26. Circular tool carrying platform, 27. Linear through-type motor lead screw, 28. Linear through-type motor housing, 29. Circular sleeve, 30. Adapter, 31. Special-shaped sleeve, 32. Bearing, 33. Special-shaped adapter, 34. Brush, 35. Atomizer, 36. Endoscope, 37. Stator wall, 38. Stator hole, 39. Ground. DETAILED DESCRIPTION

[0040] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] A first aspect of the present invention provides a miniaturized stator cleaning device for cleaning a stator wall surface 37 and stator holes 38 on the stator wall surface 37 .

[0042] The stator cleaning device of the present invention specifically includes the following modules:

[0043] The frame module comprises a frame 1 and a plurality of rollers 2, wherein the rollers 2 are mounted on the frame 1. During the traveling and operation process, the frame 1 is preferably kept parallel to the stator wall 37, and the rollers 2 are in rolling contact with the stator wall 37;

[0044] The driving module is used to drive the stator cleaning device to move up and down and adjust the lateral position on the stator wall 37 to achieve global position adjustment; the driving module generates vertical lift to achieve the up and down movement of the stator cleaning device along the stator wall. The lift difference between the two sides of the rotor realizes the deflection movement of the device as a whole, thereby achieving lateral position adjustment, and the combination of the two realizes global position adjustment of the stator wall;

[0045] A magnetic adsorption module, used to activate or release the adsorption of the stator cleaning device on the stator wall 37, installed on the frame 1;

[0046] The working tool module is used to clean the stator hole 38 on the stator wall 37, and includes at least one working tool and a working drive motor. Each working drive motor is connected to a corresponding working tool and drives the corresponding working tool to perform telescopic movement in a direction perpendicular to the stator wall 37.

[0047] The plane positioning module is used to carry and move the working tool module, that is, to realize the local position adjustment of the working tool module. The plane positioning module can move the working tool module on the positioning plane, and the positioning plane is parallel to the stator wall surface 37.

[0048] As a preferred embodiment of the frame module: the frame module includes four evenly distributed rollers 2. The rollers 2 are preferably hinged to the frame 1 through universal balls. Figure 1 and Figure 2 As shown, in a specific embodiment of the present invention, four rollers are distributed at four corners of the frame 1.

[0049] The driving module includes a moving unit and a wall-attaching unit. The moving unit is used to provide gravity balance and realize differential steering during the movement of the device, and the wall-attaching unit is used to apply pressure to the frame 1 to adhere to the stator wall 37 during the movement of the device to keep the frame 1 from separating from the stator wall 37. The moving unit and the wall-attaching unit each include at least one pair of rotors 3, and each pair of rotors 3 is composed of two rotors 3 symmetrically arranged on the vertical sides of the frame 1. In the moving unit, the rotor 3 can be directly connected to the frame 1 or connected through other connecting parts. The wall-attaching unit also includes a plurality of rotor steering motors 7. The number of rotor steering motors 7 and rotors 3 is the same and one-to-one corresponding. The rotor steering motor 7 is installed on the frame 1 and is transmission-connected to the corresponding rotor 3 to adjust the direction of the aerodynamic force generated by the corresponding rotor 3.

[0050] As a preferred embodiment of the driving module: in the driving module, the mobile unit and the wall-attached unit each include a pair of rotors 3. The pair of rotors 3 in the mobile unit are arranged at the front of the frame 1, and the axis of the rotor 3 is parallel to the stator wall 37, which is used to provide gravity balance and realize differential steering. The two rotors 3 are each connected to the frame 1 through a rotor support 4, and the rotor support 4 is used to provide support for the rotor 3. The pair of rotors 3 of the wall-attached unit are arranged in the middle of the frame 1, and the two rotors 3 are each connected to the frame 1 through a rotor steering motor 7. Among them, the implementation method of connecting the rotor 3 to the frame 1 through the rotor steering motor 7 can be: the fuselage of the rotor 3 is connected to the rotating shaft of the rotor steering motor 7 by transmission, and the fuselage of the rotor steering motor 7 is installed on the frame 1.

[0051] like Figure 4 As shown, the magnetic adsorption module includes at least one pair of magnetic adsorption components. In each pair of magnetic adsorption components, two magnetic adsorption components are symmetrically arranged on both vertical sides of the frame 1. Each magnetic adsorption component is mainly composed of a steering gear 5 and a magnetic block 6. The steering gear 5 is connected to the frame 1. The output shaft of the steering gear 5 is connected to the magnetic block 6 and provides drive for the magnetic block 6 to achieve the distance control between the magnetic block 6 and the stator wall 37. In an embodiment of the present invention, the output shafts of the two steering gears 5 are rotating shafts, which can provide rotational drive for the magnetic block 6. The rotating shafts of the two steering gears 5 are coaxially arranged, and the rotating shafts are parallel to the horizontal plane and the stator wall. When the steering gear 5 is used to make the magnetic block 6 face and contact the stator wall 37, the adsorption of the stator cleaning device on the stator wall 37 is activated. When the steering gear 5 is used to make the magnetic block 6 away from the stator wall 37, the adsorption of the stator cleaning device on the stator wall 37 is released.

[0052] like Figure 5As shown, the working tool module includes a gas tank 10, a conduit 11, a camera tool 12, an atomizing spray tool 13, a cleaning tool 14 and three linear through-type motors; the camera tool 12, the atomizing spray tool 13 and the cleaning tool 14 are respectively connected to the three linear through-type motors in a one-to-one transmission manner, and the three linear through-type motors are all connected to the movable end of the plane positioning module; the outlet of the gas tank 10 is connected to the inlet of the atomizing spray tool 13 through the conduit 11, and the gas tank 10 is installed on the frame 1. The gas tank 10 can transmit detergent and water to the atomizing spray tool 13 through the conduit 11.

[0053] As a preferred embodiment of the working tool module: the camera tool 12, the atomizing spray tool 13 and the cleaning tool 14 are respectively equipped with an endoscope 36, an atomizer 35 and a brush 34. The endoscope 36 is used to photograph the stator hole 38, the atomizer 35 is used to deliver the detergent, and the brush 34 is used to scrub the stator hole 38. During the operation, the endoscope 36 is driven by the corresponding linear through-type motor and can enter the hole of the stator hole 38 for detection; the atomizer 35 is driven by the corresponding linear through-type motor and can deeply deliver the detergent inside the hole of the stator hole 38; the brush 34 is driven by the corresponding linear through-type motor and can perform telescopic cleaning and rotational cleaning in the hole of the stator hole 38. In addition, the atomizer 35 is connected to the gas tank 10 placed on the frame 1 through the conduit 11, and the gas tank 10 stores detergent and clean water.

[0054] As a preferred embodiment of the working motor: the linear through-type motor is composed of a linear through-type motor lead screw 27 and a linear through-type motor housing 28. When the linear through-type motor is working, the linear through-type motor housing 28 is fixed, and the linear through-type motor lead screw 27 realizes spiral rotation, that is, the lead screw rotates around its own axis while extending and retracting. For example: when the linear through-type motor lead screw 27 rotates clockwise, the linear through-type motor lead screw 27 extends out of the linear through-type motor housing 28, and when the linear through-type motor lead screw 27 rotates counterclockwise, the linear through-type motor lead screw 27 retracts into the linear through-type motor housing 28. As a result, the linear through-type motor can drive the brush 34 to perform telescopic cleaning and rotational cleaning in the hole of the stator hole 38.

[0055] Each working tool is preferably connected to the corresponding linear through-type motor transmission in the following manner: Since the brush needs to be retracted and rotated, Figure 6 As shown on the left, the brush 34 is fixedly connected to the linear through-type motor screw 27 through the adapter 30. During the extension and rotation of the linear through-type motor screw 27, the adapter 30 moves along the axis of the circular sleeve 29, and finally drives the brush 34 to extend and rotate around itself. Since the endoscope 36 and the atomizer 35 only need to realize extension and rotation, they do not need rotation. Figure 6As shown on the right, an endoscope is used as an example for explanation: Different from the adapter 30, the adapter includes a bearing 32 and a special-shaped adapter 33. The inner ring of the bearing 32 is fixedly connected to the linear through-type motor screw 27, and the outer ring of the bearing 32 is fixedly connected to the special-shaped adapter 33. The outer protrusion of the special-shaped adapter 33 cooperates with the guide groove inside the special-shaped sleeve 31, and the special-shaped adapter 33 can slide linearly along the special-shaped sleeve 31. The special-shaped adapter 33 is fixedly connected to the endoscope 36. When the linear through-type motor screw 27 rotates and retracts, the special-shaped adapter 33 moves linearly along the guide groove of the special-shaped sleeve 31, and finally drives the endoscope 36 to retract (the movement process of the atomizer 35 is the same).

[0056] The plane positioning module is used to carry the working tool module to achieve precise plane positioning within a small range. Preferably, the plane positioning module is arranged between the frame 1 and the stator wall 37, the working drive motor is installed at the movable end of the plane positioning module, and the fixed end of the plane positioning module is installed on the frame 1.

[0057] The plane positioning module can be realized in many ways. The present invention takes two mechanisms as examples for introduction: XY plane motion configuration and Scara configuration. The XY plane motion configuration is realized by two orthogonal linear motions, and the Scara configuration is realized by two rotating connecting rods in series.

[0058] Optionally, the plane positioning module includes a transverse tool carrying platform 15, a Y-axis lead screw motor 16, a Y-axis lead screw 17, a Y-motion subframe 18, an X-axis rack 19, a gear 20 and a gear drive motor 21. The transverse tool carrying platform 15 is used to carry the working tool module, and is provided with a threaded guide hole, which together with the Y-axis lead screw 17 forms a lead screw-slider assembly. The Y-axis lead screw motor 16 is used to drive the Y-axis lead screw 17 so that the transverse tool carrying platform 15 can move along the Y direction. The Y-motion subframe 18 is used to carry the transverse tool carrying platform 15, the Y-axis lead screw, the Y-axis lead screw motor 16, the gear 20 and the gear drive motor 21; the gear 20 and the corresponding X-axis rack 19 form a gear rack motion pair. The gear drive motor 21 is used to drive the gear 20 to complete the motion control of the Y-motion subframe 18 in the X direction. At least one gear 20 is provided at each end of the Y-direction of the Y-motion subframe 18, and at least one X-direction rack 19 is provided at each end of the frame 1 in the Y-direction. The X-direction rack 19 is arranged along the X-direction perpendicular to the Y-direction. The number of gears 20 and the number of X-direction racks 19 are the same and correspond one to one. The gear 20 is meshed with the corresponding X-direction rack 19. At least one Y-direction screw rod 17 is installed on the Y-motion subframe 18. The Y-direction screw rod 17 is parallel to the Y-direction, that is, arranged along the Y-direction. At least one guide hole is provided on the transverse tool carrying platform 15. The number of the Y-direction screw rod 17 and the guide hole are the same and correspond one to one. The guide hole is sleeved on the outer side of the corresponding Y-direction screw rod 17 and is screw-matched with the corresponding Y-direction screw rod 17. The Y-motion subframe 18 is slidably connected to the frame 1, and the transverse tool carrying platform 15 is used as the movable end of the plane positioning module to install the working tool module. The transverse tool carrying platform 15 is connected to the fixed end of the working drive motor in the working tool module. The Y-motion subframe 18 is equipped with a gear drive motor 21 and a Y-direction screw motor 16, which are used to drive the gear 20 and the Y-direction screw 17 respectively. The X direction and the Y direction are both parallel to the positioning plane. The Y-motion subframe 18 is slidably connected to the frame 1, which means that the Y-motion subframe 18 can reciprocate relative to the frame 1 along the X direction.

[0059] Optionally, the plane positioning module uses a Scara robot arm (Selective Compliance Assembly Robot Arm). The Scara robot arm is mainly composed of a robot arm primary motor 22, a robot arm primary connecting rod 23, a robot arm secondary motor 24 and a robot arm secondary connecting rod 25. The robot arm secondary connecting rod 25 at the end of the Scara robot arm is equipped with a circular tool carrying platform 26, and the plane positioning of the circular tool carrying platform 26 is achieved through its two rotating joints. The circular tool carrying platform 26 is used to carry the working tool module. Specifically, the robot arm primary motor 22 is fixedly connected to the frame 1, the output shaft of the robot arm primary motor 22 is connected to the head end of the robot arm primary connecting rod 23, the end of the robot arm primary connecting rod 23 is connected to the robot arm secondary motor 24, the output shaft of the robot arm secondary motor 24 is connected to the head end of the robot arm secondary connecting rod 25, the end of the robot arm secondary connecting rod 25 is connected to the circular tool carrying platform 26, the circular tool carrying platform 26 is used to install the working tool module, and the circular tool carrying platform 26 is connected to the fixed end of the working drive motor in the working tool module. In the specific implementation, the output shafts of the robot arm primary motor 22 and the robot arm secondary motor 24 are both rotating shafts, and the rotating shafts are perpendicular to the positioning plane.

[0060] Further, the frame module also includes a main control module 8 and a power module 9. The main control module 8 is electrically connected to the power module 9. The main control module 8 can realize the movement and operation control of the stator cleaning device. The power module 9 is used to provide energy supply for each power element of the stator cleaning device. As an optional embodiment of the present invention, the main control module 8 is electrically connected to the rotor 3, the steering gear 5, the camera tool 12, the atomization spray tool 13, the cleaning tool 14, the linear through-type motor screw 27, the atomizer 35 and the endoscope 36. The main control module 8 is also electrically connected to the Y-axis screw motor 16 and the gear drive motor 21, or is electrically connected to the robot arm primary motor 22 and the robot arm secondary motor 24, so as to control the overall movement of the stator cleaning device, the local two-degree-of-freedom positioning, and the control endoscope to shoot, the brush to clean, and the atomizer to spray detergent. The power module 9 is electrically connected to the main control module and supplies power to all electrical components of the stator cleaning device. The electrical components include a rotor 3, a steering gear 5, a linear through-type motor screw 27, an atomizer 35, and an endoscope 36. The electrical components also include a Y-axis screw motor 16 and a gear drive motor 21, or a robot arm primary motor 22 and a robot arm secondary motor 24.

[0061] The stator cleaning device of the present invention provides overall steering of the device and global positioning by moving up and down along the stator wall through the differential of the rotors on both sides. During the movement, the passive rollers on the frame contact the wall to assist the movement. The magnetic adsorption module is used to ensure that the device is attached to the stator wall, and the angle of the magnetic adsorption module is adjusted so that it fits tightly with the stator wall. The tiny protrusions on the stator surface are used to provide stable support for the device in the weight direction, thereby saving the power consumption of the rotor drive. The local position of the working tool module is regulated by fine movement of two degrees of freedom. The stator hole is deeply photographed, the detergent is sprayed, and the brush is cleaned by the working tool module including three working tools: an endoscope, a brush, and an atomizer.

[0062] The process of magnetic fixation and movement of the stator cleaning device is as follows Figure 4 shown. Figure 4 The left side shows the state where the stator cleaning device is adsorbed and fixed to the stator wall 37. At this time, the magnetic block 6 is in direct contact with the stator wall 37, providing suction on the one hand, and on the other hand, the magnetic block 6 uses the tiny protrusions on the stator wall 37 below it to provide a vertical reaction force for the device. Therefore, in this state, the drive of the rotor 3 can be stopped, and the gravity balance is completely achieved by the magnetic block, thereby reducing power consumption and achieving long-term working endurance.

[0063] Figure 4 The right side shows the differential and vertical motion state of the stator cleaning device. At this time, the magnetic block 6 is lifted by the steering gear 5, and the magnetic block 6 does not contact the stator wall 37. The stator cleaning device is in direct contact with the stator wall 37 through the roller 2, and the direction of the two rotors 3 in the middle of the device is adjusted, and the rotors 3 provide lateral aerodynamic force to ensure that the stator cleaning device does not leave the wall. The two rotors above the stator cleaning device provide vertical gravity support and differential motion control to achieve the following Figure 3 The device shown has overall vertical movement as well as differential.

[0064] The stator cleaning device performs global position adjustment in the following manner: Figure 3 As shown. Figure 3 As shown in (a), when the driving forces of the rotors 3 on both sides are consistent, the stator cleaning device realizes linear motion in the vertical direction. Figure 3 As shown in (b), when the aerodynamic forces generated by the rotors 3 on both sides are different, the stator cleaning device realizes the steering function due to the differential motion. By combining the two motion modes, the device can traverse the entire stator wall.

[0065] After the stator cleaning device runs to a designated area, the two-degree-of-freedom local positioning module (XY configuration and Scara configuration) carried by the device can achieve local precise positioning and adjust the working tool ABC to the designated position for fine work.

[0066] A second aspect of the present invention provides a stator cleaning method using the above-mentioned stator cleaning device, comprising the following steps:

[0067] S1) Using the driving module to drive the stator cleaning device to perform the following steps on the stator wall surface 37: Figure 3 The overall global movement shown moves the stator cleaning device to the position to be cleaned.

[0068] The overall global motion is achieved by combining two motion modes, namely, up and down motion and lateral position adjustment. The process of using the driving module to drive the stator cleaning device to move up and down on the stator wall 37 is specifically as follows: the two rotors 3 of each pair of rotors 3 in the mobile unit generate the same lift, and the rotors 3 in the wall-attached unit generate aerodynamic forces perpendicular to the stator wall 37. The process of using the driving module to drive the stator cleaning device to adjust the lateral position on the stator wall 37 is specifically as follows: the two rotors 3 of each pair of rotors 3 in the mobile unit generate different lifts, and the rotors 3 in the wall-attached unit generate aerodynamic forces perpendicular to the stator wall 37.

[0069] In step S1, when the device is in motion, the rotor 3 is opened to provide weight balance and vertical (up and down movement) and differential movement (lateral position adjustment) of the device. The magnetic block 6 is kept lifted under the control of the steering gear 5, and the magnetic block 6 does not contact the stator wall 37.

[0070] S2) After the stator cleaning device moves to the position to be cleaned, the magnetic adsorption module is used to activate the adsorption of the stator cleaning device on the stator wall 37, and the driving module is closed;

[0071] like Figure 4 As shown, in step S2, the magnetic block 6 is controlled by the steering gear 5 to realize the lowering action, so that the magnetic block 6 is directly opposite to and in direct contact with the stator wall 37, so as to activate the adsorption of the stator cleaning device on the stator wall 37. Since the stator wall 37 is a metal wall, under the action of magnetic force, the magnetic block 6 is firmly adsorbed on the stator wall 37, and the device is adsorbed on the stator wall 37; at the same time, there are many tiny protrusions on the stator wall 37, and the magnetic block 6 can use these tiny protrusions to form a rigid support in the vertical direction, thereby providing a vertical support force for the device. Therefore, under the action of the vertical support force and the lateral adsorption force, the device can be stably fixed on the stator wall 37. After successful fixation, the rotor 3 is closed to save energy consumption, thereby achieving a long-term endurance of the device.

[0072] S3) using the plane positioning module to adjust the position of the working tool module on the positioning plane to achieve accurate positioning of the working tool in a local range, and then using the working tool to operate the stator hole 38 on the stator wall 37;

[0073] In step S3, the process of operating the stator hole 38 is specifically as follows:

[0074] The plane positioning module is used to move the working tool module so that the camera tool 12 faces the current stator hole 38, and the linear through-type motor corresponding to the camera tool 12 is used to drive the camera tool 12 to extend into the current stator hole 38 and perform a shooting operation. After the shooting operation is completed, the corresponding linear through-type motor is used to retract the camera tool 12;

[0075] The plane positioning module is used to move the working tool module so that the atomizing spray tool 13 faces the current stator hole 38, and the linear through-type motor corresponding to the atomizing spray tool 13 is used to drive the atomizing spray tool 13 to extend into the current stator hole 38 and perform the atomizing spraying operation of the cleaning agent. After the atomizing spraying operation of the cleaning agent is completed, the atomizing spray tool 13 is retracted by the corresponding linear through-type motor;

[0076] The plane positioning module is used to move the working tool module so that the cleaning tool 14 is facing the current stator hole 38, and the linear through-type motor corresponding to the cleaning tool 14 is used to drive the cleaning tool 14 to extend into the current stator hole 38 and perform the cleaning operation. After the cleaning operation is completed, the corresponding linear through-type motor is used to retract the cleaning tool 14. The operation on the current stator hole 38 is completed.

[0077] S4) After the operation is completed, the driving module is turned on, and the magnetic adsorption module is used to release the adsorption of the stator cleaning device on the stator wall 37;

[0078] In step S4 , the magnetic block 6 is controlled by the steering gear 5 to perform a lifting action, so that the magnetic block 6 is moved away from the stator wall 37 , thereby releasing the adsorption of the stator cleaning device on the stator wall 37 .

[0079] S5) Repeat steps S1 to S4 until the operation is completed for all stator holes 38. Specifically, if the next stator hole 38 needs to be operated, the position of the next stator hole 38 is set as the position to be cleaned, and then return to step S1; if the next stator hole 38 does not need to be operated, the operation is completed.

[0080] The specific embodiments of the present invention are as follows:

[0081] Example 1

[0082] In this embodiment, the structure of the stator cleaning device equipped with the XY configuration local positioning module is as follows: Figure 1 shown.

[0083] The frame 1 remains parallel to the stator wall 37, and four rollers 2 are installed at the four corners of the frame 1. The frame 1 and the stator wall 37 form four point contacts through the four rollers 2, and the friction during movement is reduced by the contact between the rollers 2 and the stator wall 37.

[0084] Four rotors 3 are arranged on both sides of the frame 1 (two at the top of the frame and two in the middle). The two rotors 3 in the middle of the frame 1 can dynamically adjust their orientations through their corresponding rotor steering motors 7, thereby providing a force perpendicular to the stator wall 37 to ensure that the stator cleaning device is always attached to the stator wall 37. The power and drive control required by the rotors 3 and the rotor steering motors 7 are provided by the main control module 8 and the power module 9.

[0085] like Figure 3 As shown, during the movement, by adjusting the driving force of the rotors 3 on both sides at the same time, the device can move up and down along the stator wall 37; by differentially adjusting the driving force of the rotors 3 on both sides, the device can turn along the stator wall 37, thereby achieving lateral movement of the device. Figure 3 The two motion modes shown enable global position control of the device to traverse the entire stator wall surface to achieve cleaning of the stator hole 38.

[0086] Example 2

[0087] In this embodiment, the structure of the stator cleaning device equipped with the Scara configuration local positioning module is as follows: Figure 2 As shown. The plane positioning module includes a robot arm primary motor 22, a robot arm primary connecting rod 23, a robot arm secondary motor 24, a robot arm secondary connecting rod 25 and a circular tool carrying platform 26. The robot arm primary motor 22, the robot arm primary connecting rod 23, the robot arm secondary motor 24 and the robot arm secondary connecting rod 25 together form a Scara-shaped robot arm, and the robot arm realizes the plane positioning of the circular tool carrying platform 26 through two rotating joints. The circular tool carrying platform 26 is used to carry the working tool module. The robot arm primary motor 22 is fixedly connected to the frame 1, the output shaft of the robot arm primary motor 22 is connected to the head end of the robot arm primary connecting rod 23, the end of the robot arm primary connecting rod 23 is connected to the robot arm secondary motor 24, the output shaft of the robot arm secondary motor 24 is connected to the head end of the robot arm secondary connecting rod 25, the end of the robot arm secondary connecting rod 25 is connected to the circular tool carrying platform 26, the circular tool carrying platform 26 is used to install the working tool module, and the circular tool carrying platform 26 is connected to the fixed end of the working drive motor in the working tool module. In the specific implementation, the output shafts of the robot arm primary motor 22 and the robot arm secondary motor 24 are both rotating shafts. The rotating shaft is perpendicular to the positioning plane.

[0088] The above specific implementation modes are used to explain the present invention rather than to limit the present invention. Any modification and change made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall within the protection scope of the present invention.

[0089] The above description is only a preferred embodiment of the present invention, so all equivalent changes or modifications made according to the structure, characteristics and principles described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.

Claims

1. A miniaturized stator cleaning device, characterized in that: include: A frame module, comprising a frame (1) and a plurality of rollers (2) mounted on the frame (1); A driving module, mounted on the frame (1), and used to drive the stator cleaning device to move on the stator wall surface (37); A magnetic adsorption module, mounted on the frame (1), used to activate or release the adsorption of the stator cleaning device on the stator wall (37); A working tool module, used for cleaning the stator hole (38), comprising at least one working tool and a working drive motor, each working drive motor being in transmission connection with a corresponding working tool and driving the working tool to perform telescopic movement in a direction perpendicular to the stator wall surface (37); A plane positioning module is mounted on the frame (1) and is used to carry and move the working tool module. The working drive motor is mounted on the plane positioning module.

2. The miniaturized stator cleaning device according to claim 1, characterized in that: The driving module comprises a moving unit and a wall-attaching unit; the moving unit and the wall-attaching unit each comprise at least one pair of rotors (3), each pair of rotors (3) being composed of two rotors (3) symmetrically arranged on both sides of a frame (1); the wall-attaching unit further comprises a rotor steering motor (7), the number of the rotor steering motors (7) and the number of rotors (3) being the same and corresponding one to one, the rotor steering motor (7) being mounted on the frame (1) and being transmission-connected to the corresponding rotor (3).

3. The miniaturized stator cleaning device according to claim 1, characterized in that: The magnetic adsorption module comprises at least one pair of magnetic adsorption components; each magnetic adsorption component is mainly composed of a steering gear (5) and a magnetic adsorption block (6); the steering gear (5) is connected to the frame (1); and the output shaft of the steering gear (5) is connected to the magnetic adsorption block (6); when the steering gear (5) is used to make the magnetic adsorption block (6) face and contact the stator wall surface (37), the adsorption of the stator cleaning device on the stator wall surface (37) can be activated; when the steering gear (5) is used to make the magnetic adsorption block (6) away from the stator wall surface (37), the adsorption of the stator cleaning device on the stator wall surface (37) can be released.

4. The miniaturized stator cleaning device according to claim 1, characterized in that: In the working tool module, the working tools include a camera tool (12), an atomizing spray tool (13) and a cleaning tool (14); the three working drive motors are all linear through-type motors, and the working drive motors are connected to the movable end of the plane positioning module; the working tool module also includes an air tank (10) and a conduit (11); the air tank (10) is installed on the frame (1); and the air tank (10) is connected to the atomizing spray tool (13) via the conduit (11).

5. The miniaturized stator cleaning device according to claim 1, characterized in that: The plane positioning module comprises a lateral tool carrying platform (15), a Y-axis lead screw motor (16), a Y-axis lead screw (17), a Y motion subframe (18), an X-axis rack (19), a gear (20) and a gear drive motor (21); The Y-motion subframe (18) is provided with at least one gear (20) at each end in the Y direction, and the frame (1) is provided with at least one X-axis rack (19) at each end in the Y direction, and the X-axis rack (19) is arranged along the X direction perpendicular to the Y direction, and the number of the gears (20) and the X-axis rack (19) is the same and corresponds one to one, and the gears (20) are meshed with the corresponding X-axis rack (19); at least one Y-axis screw rod (17) is installed on the Y-motion subframe (18), and the Y-axis screw rod (17) is parallel to the Y direction, and at least one guide hole is provided on the horizontal tool carrying platform (15), and the number of the Y-axis screw rod (17) and the guide hole is the same and corresponds one to one, and the guide hole is sleeved on the outer side of the corresponding Y-axis screw rod (17) and is spirally matched with the corresponding Y-axis screw rod (17); The Y-motion subframe (18) is slidably connected to the frame (1), and the transverse tool carrying platform (15) is connected to the operation drive motor; a gear drive motor (21) and a Y-direction lead screw motor (16) are installed on the Y-motion subframe (18), which are used to drive the gear (20) and the Y-direction lead screw (17) respectively; and the X direction and the Y direction are both parallel to the positioning plane.

6. The miniaturized stator cleaning device according to claim 1, characterized in that: The plane positioning module comprises a robotic arm primary motor (22), a robotic arm primary connecting rod (23), a robotic arm secondary motor (24), a robotic arm secondary connecting rod (25) and a circular tool carrying platform (26) which are connected in sequence; the robotic arm primary motor (22) is fixedly connected to the frame (1), and the circular tool carrying platform (26) is connected to the operation drive motor.

7. A stator cleaning method using the stator cleaning device according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1) using a driving module to drive the stator cleaning device to perform global motion on the stator wall surface (37), so that the stator cleaning device moves to a position to be cleaned; S2) after the stator cleaning device moves to the position to be cleaned, the magnetic adsorption module is used to activate the adsorption of the stator cleaning device on the stator wall (37), and the driving module is closed; S3) using the plane positioning module to adjust the position of the working tool module on the positioning plane, and using the working tool to operate the stator hole (38) on the stator wall surface (37); S4) after the operation is completed, the driving module is turned on, and the magnetic adsorption module is used to release the adsorption of the stator cleaning device on the stator wall surface (37); S5) Repeat steps S1 to S4 until the operation is completed.

8. The stator cleaning method according to claim 7, characterized in that: In the step S2, the steering gear (5) is used to make the magnetic attraction block (6) face and contact the stator wall surface (37), thereby activating the adsorption of the stator cleaning device on the stator wall surface (37); and in the step S4, the steering gear (5) is used to make the magnetic attraction block (6) move away from the stator wall surface (37), thereby releasing the adsorption of the stator cleaning device on the stator wall surface (37).

9. The stator cleaning method according to claim 7, characterized in that: In step S3, the process of operating the stator hole (38) is specifically as follows: using the plane positioning module to move the operating tool module, so that the camera tool (12), the atomizing spraying tool (13), and the cleaning tool (14) are sequentially extended into the stator hole (38), and the camera operation, the cleaning agent atomizing spraying operation, and the cleaning operation are sequentially performed.

10. The stator cleaning method according to claim 7, characterized in that: In step S1, the global movement includes up and down movement and lateral position adjustment; the process of the stator cleaning device performing up and down movement is specifically: using the two rotors (3) in the same pair of rotors (3) in the moving unit to generate the same lift; the process of the stator cleaning device performing lateral position adjustment is specifically: using the two rotors (3) in the same pair of rotors (3) in the moving unit to generate different lifts.

Images