A miniaturized stator cleaning device and method

Abstract

The application discloses a kind of miniaturized stator cleaning device and method.There is frame module, drive module, magnetic adsorption module, operation tool module and plane positioning module;Drive module is used to drive stator cleaning device to carry out position adjustment on stator wall surface, magnetic adsorption module is used to activate or release the adsorption of stator cleaning device on stator wall surface, operation tool module is used to clean stator wall surface and stator hole, plane positioning module is used to carry and move operation tool module on positioning plane.The stator cleaning device of the application is positioned by global movement rough positioning-magnetic adsorption anchoring-local accurate positioning cleaning mode, successfully realizes the miniaturization and light weight of overall device, and provides the stator hole cleaning of entire wall surface.

Description

Technical Field

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

[0002] A hydroelectric generator set is the core equipment for hydropower generation. Its main components include a generator and a turbine. The generator is equipped with carbon brushes, a rotor, and a stator. During long-term operation, the heat generated by the generator causes the oil to break down and form sediment. Furthermore, wear of the carbon brushes also leads to the generation of carbon dust. Excessive accumulation of these impurities can cause the generator to overheat, reduce power generation efficiency, and even cause the generator to shut down. Therefore, regular cleaning of the generator is essential, and cleaning the stator core windings is a key step.

[0003] The cleaning process typically requires removing the rotor and chemically cleaning the stator core windings with an electrical cleaning agent, focusing on the ventilation holes between the channel steel and the silicon steel sheets, which are evenly distributed on the inner wall of the stator. This cleaning operation is usually performed manually, but because the electrical cleaning agent is slightly toxic, it can be inhaled as an aerosol during operation, posing a potential health risk to workers. To minimize the risk, continuous operation must be avoided during the cleaning process, often requiring frequent shifts of professionals. This results in inefficient cleaning and fails to effectively protect the health and safety of workers.

[0004] Existing technology, the existing stator cleaning technology has many deficiencies. First of all, in terms of cleaning effect, for stators with complex structures, many grooves, gaps or tiny holes, existing technology is often unable to thoroughly clean all parts. For example, the gaps between the laminations of the stator core, the winding gaps of the windings and other locations are difficult for cleaning liquids or cleaning tools to fully penetrate, resulting in residual dirt. Secondly, due to limitations in equipment design or operating methods, there may be cleaning dead corners in some stator cleaning processes. Taking fixed nozzle cleaning as an example, certain 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. During the actual cleaning process, it is easy to cause a series of problems such as falling and damaging the stator itself. Therefore, the device needs to ensure that the entire machine is lightweight and miniaturized under the premise of achieving multiple, large-area stator deep hole cleaning. Summary of the Invention

[0005] To address the problems presented in the background art, the present invention provides a miniaturized stator cleaning device and method. The stator cleaning device of the present invention is used for cleaning metal surfaces and features a compact size and lightweight design. It can achieve global movement along the stator wall and magnetic fixation, as well as image capture, precise positioning, precise detergent delivery, and deep brush cleaning of localized stator micropores.

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

[0007] 1. A miniaturized stator cleaning device

[0008] The stator cleaning device comprises:

[0009] A frame module comprises 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 is mounted on the frame and is used to activate or release the adsorption of the stator cleaning device on the stator wall;

[0012] A working tool module, for cleaning the stator hole, 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;

[0013] The plane positioning module is installed on the frame and is used to carry and move the working tool module. The working drive 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 attraction module includes at least one pair of magnetic attraction components; each magnetic attraction component is primarily composed of a servo and a magnetic block. The servo is connected to the frame, and the output shaft of the servo is connected to the magnetic block. When the servo is used to align the magnetic block with and contact the stator wall, the stator cleaning device is activated to adhere to the stator wall. When the servo is used to move the magnetic block away from the stator wall, the stator cleaning device is released from the stator wall.

[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 all adopt 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 sub-frame, an X-axis rack, a gear and a gear drive motor; the Y-motion sub-frame is provided with at least one gear at each end in the Y direction, and the frame is provided with at least one X-axis rack at each end in the Y direction, the X-axis racks are arranged along the X direction perpendicular to the Y direction, the number of the gears and the X-axis racks is the same and corresponds one to one, and the gears are meshed with the corresponding X-axis racks; the Y-motion sub-frame is installed with at least one Y-axis lead screw, the Y-axis lead screw is parallel to the Y direction, and the transverse tool carrying platform is provided with at least one guide hole, the number of the Y-axis lead screw and the guide hole is the same and corresponds one to one, the guide hole is sleeved on the outside of the corresponding Y-axis lead screw and spirally engaged with the corresponding Y-axis lead screw; the Y-motion sub-frame is slidably connected to the frame, and the transverse tool carrying platform is connected to the operation drive motor; the Y-motion sub-frame is installed with a gear drive motor and a Y-axis lead screw motor, 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 manipulator primary motor, a manipulator primary connecting rod, a manipulator secondary motor, a manipulator secondary connecting rod, and a circular tool carrying platform. The manipulator primary motor is fixedly connected to the frame, the output shaft of the manipulator primary motor is in transmission connection with the head end of the manipulator primary connecting rod, the end of the manipulator primary connecting rod is connected to the manipulator secondary motor, the output shaft of the manipulator secondary motor is in transmission connection with the head end of the manipulator secondary connecting rod, the end of the manipulator secondary connecting rod is connected to the circular tool carrying platform, and the circular tool carrying platform, serving as the movable end of the plane positioning module, is connected to the operation drive motor.

[0019] 2. A stator cleaning method using the above-mentioned 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 moving 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 moving unit to generate different lift.

[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, and the driving module is closed;

[0024] In step S2, the steering gear is used to make the magnetic block face and contact the stator wall surface, thereby activating 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 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 detergent atomizing spraying 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 to drive the camera tool to extend into the current stator hole and perform the shooting operation, and after the shooting operation is completed, the camera tool is retracted; 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 detergent atomizing spraying operation, and after the detergent atomizing spraying operation is completed, the atomizing spray tool is retracted; 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 after the cleaning operation is completed, the cleaning tool is retracted.

[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;

[0028] In step S4, the magnetic block is moved away from the stator wall by using the steering gear, thereby releasing 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 is lightweight. It achieves global movement through rotor drive. It achieves adsorption on the metal wall through adjustable magnetic attraction and utilizes micro-protrusions for rigid support in the weight direction. It is equipped with a two-degree-of-freedom local positioning module to achieve 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 deep hole cleaning of the stator on the entire wall surface while successfully realizing the miniaturization and lightweight of the overall device through the mode of global mobile coarse positioning-magnetic anchoring-local precise positioning cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0034] Figure 2 Schematic diagram of the structure of the stator cleaning device equipped with the Scara configuration local positioning module in the present invention;

[0035] Figure 3 Schematic diagram of the 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 Schematic diagram of the magnetic fixed state and motion state of the stator cleaning device of the present invention;

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

[0038] Figure 6 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 first-level motor, 23. Robot arm first-level connecting rod, 24. Robot arm second-level motor, 25. Robot arm second-level 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 will be 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 37 and stator holes 38 on the stator wall 37 .

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

[0043] The frame module includes a frame 1 and a plurality of rollers 2, and the rollers 2 are mounted on the frame 1. During travel and operation, the frame 1 preferably remains parallel to the stator wall 37, and the rollers 2 are in rolling contact with the stator wall 37;

[0044] The drive module is used to drive the stator cleaning device to move up and down along the stator wall 37 and adjust its lateral position to achieve global position adjustment. The drive 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 rotors achieves the overall deflection movement of the device, thereby achieving lateral position adjustment. The combination of the two achieves 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, is installed on the frame 1;

[0046] A working tool module, used for cleaning the stator holes 38 on the stator wall 37, 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 achieve local position adjustment of the working tool module. The plane positioning module can move the working tool module on the positioning plane, which is parallel to the stator wall 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 the 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, so as 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 consists 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 number 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 motors 7 are installed on the frame 1 and are connected to the corresponding rotors 3 in a transmission manner to adjust the direction of the aerodynamic force generated by the corresponding rotors 3.

[0050] As a preferred embodiment of the drive module: in the drive 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. The way in which the rotor 3 is connected to the frame 1 through the rotor steering motor 7 can be: the fuselage of the rotor 3 is transmission-connected to the rotating shaft of the rotor steering motor 7, and the fuselage of the rotor steering motor 7 is mounted 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, the two magnetic adsorption components are symmetrically arranged on both vertical sides of the frame 1. Each magnetic adsorption component is mainly composed of a servo 5 and a magnetic block 6. The servo 5 is connected to the frame 1. The output shaft of the servo 5 is connected to the magnetic block 6 and provides drive for the magnetic block 6 to achieve 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 servos 5 are rotating shafts, which can provide rotational drive for the magnetic block 6. The rotating shafts of the two servos 5 are coaxially arranged, and the rotating shafts are parallel to the horizontal plane and the stator wall. When the servo 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 servo 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 an air tank 10, a conduit 11, a camera 12, an atomizing spray tool 13, a cleaning tool 14, and three linear through-type motors. The camera 12, atomizing spray tool 13, and cleaning tool 14 are each connected to the three linear through-type motors in a one-to-one transmission manner. Each of the three linear through-type motors is connected to the movable end of the plane positioning module. The outlet of the air tank 10 is connected to the inlet of the atomizing spray tool 13 via the conduit 11. The air tank 10 is mounted on the frame 1. The air tank 10 can transfer cleaning agent 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 cleaning agent, and the brush 34 is used to scrub the stator hole 38. During operation, the endoscope 36 is driven by a corresponding linear through-type motor and can enter the stator hole 38 for detection; the atomizer 35 is driven by a corresponding linear through-type motor and can penetrate deep into the stator hole 38 to deliver the cleaning agent; the brush 34 is driven by a corresponding linear through-type motor and can perform telescopic cleaning and rotational cleaning inside the stator hole 38. In addition, the atomizer 35 is connected to the air tank 10 placed on the frame 1 via a conduit 11. The air tank 10 stores cleaning agent and clean water.

[0054] As a preferred embodiment of the operating 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 rotates in a spiral manner, 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 extended and rotated, Figure 6 As shown on the left, the brush 34 is fixedly connected to the linear through-type motor screw 27 via 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, ultimately driving the brush 34 to extend and rotate around itself. Since the endoscope 36 and the atomizer 35 only need to achieve extension and rotation, they do not need rotation. Figure 6As shown on the right, an endoscope is used as an example for explanation: Unlike the adapter 30, the adapter includes a bearing 32 and a special-shaped adapter 33. The inner ring of the bearing 32 is fixed to the linear through-type motor screw 27, and the outer ring of the bearing 32 is fixed 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 fixed 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 positioning of the plane 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 on 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 implemented in a variety of ways. This invention uses two mechanisms as examples to introduce: XY plane motion configuration and Scara configuration. The XY plane motion configuration is achieved by two orthogonal linear motions, and the Scara configuration is achieved by two rotating links in series.

[0058] Optionally, the plane positioning module includes a horizontal tool carrying platform 15, a Y-axis screw motor 16, a Y-axis screw 17, a Y-motion sub-frame 18, an X-axis rack 19, a gear 20 and a gear drive motor 21. The horizontal 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 screw 17 forms a screw-slider assembly. The Y-axis screw motor 16 is used to drive the Y-axis screw 17 so that the horizontal tool carrying platform 15 can move along the Y direction. The Y-motion sub-frame 18 is used to carry the horizontal tool carrying platform 15, the Y-axis screw, the Y-axis 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 sub-frame 18 in the X direction. 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. The X-axis racks 19 are arranged along the X direction perpendicular to the Y direction. The number of gears 20 and X-axis racks 19 is the same, and they correspond one-to-one. The gears 20 mesh with the corresponding X-axis racks 19. The Y-motion subframe 18 is mounted with at least one Y-axis screw rod 17, which is parallel to the Y direction, that is, arranged along the Y direction. The transverse tool mounting platform 15 is provided with at least one guide hole, which is the same as the number of Y-axis screw rods 17 and corresponds one-to-one. The guide hole is mounted on the outside of the corresponding Y-axis screw rod 17 and screw-engages with the corresponding Y-axis screw rod 17. The Y-motion subframe 18 is slidably connected to the frame 1. The transverse tool mounting platform 15 serves as the movable end of the planar positioning module, used to mount the working tool module. The transverse tool mounting platform 15 is connected to the fixed end of the working drive motor in the working tool module. The Y-motion subframe 18 is mounted with a gear drive motor 21 and a Y-axis lead screw motor 16, which respectively drive the gear 20 and the Y-axis lead screw 17. Both the X and Y directions are parallel to the positioning plane. The sliding connection between the Y-motion subframe 18 and the frame 1 means that the Y-motion subframe 18 can reciprocate relative to the frame 1 in the X direction.

[0059] Optionally, the planar positioning module uses a Scara robot arm (Selective Compliance Assembly Robot Arm). The Scara robot arm primarily consists of a primary motor 22, a primary connecting rod 23, a secondary motor 24, and a secondary connecting rod 25. A circular tool mounting platform 26 is mounted on the secondary connecting rod 25 at the end of the Scara robot arm. Two rotary joints on the Scara robot arm enable planar positioning of the circular tool mounting platform 26. The circular tool mounting platform 26 is used to carry the work tool module. Specifically, the manipulator's primary motor 22 is fixedly connected to the frame 1. The output shaft of the manipulator's primary motor 22 is in transmission connection with the head end of the manipulator's primary connecting rod 23. The end of the manipulator's primary connecting rod 23 is connected to the manipulator's secondary motor 24. The output shaft of the manipulator's secondary motor 24 is in transmission connection with the head end of the manipulator's secondary connecting rod 25. The end of the manipulator's secondary connecting rod 25 is connected to the circular tool mounting platform 26. The circular tool mounting platform 26 is used to mount the working tool module. The circular tool mounting platform 26 is connected to the fixed end of the working drive motor in the working tool module. In a specific implementation, the output shafts of the manipulator's primary motor 22 and the manipulator's secondary motor 24 are both rotating axes, and the rotating axes are perpendicular to the positioning plane.

[0060] Furthermore, 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 component 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 servo 5, the camera tool 12, the atomizing spray tool 13, the cleaning tool 14, the linear through-type motor screw 27, the atomizer 35 and the endoscope 36 respectively. The main control module 8 is also electrically connected to the Y-axis screw motor 16 and the gear drive motor 21 respectively, or is electrically connected to the robot arm primary motor 22 and the robot arm secondary motor 24 respectively, to control the overall movement of the stator cleaning device, local two-degree-of-freedom positioning, and control the endoscope to take pictures, 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 the rotor 3, the servo 5, the linear through-type motor screw 27, the atomizer 35, and the endoscope 36. The electrical components also include the Y-axis screw motor 16 and the gear drive motor 21, or the manipulator primary motor 22 and the manipulator 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 motion 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 adheres 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 in the weight direction for the device, thereby saving power consumption of the rotor drive. The local position of the working tool module is regulated by fine motion with two degrees of freedom. The stator hole is deeply photographed, detergent is sprayed, and brush cleaning is performed through 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 stator cleaning device attached to the stator wall 37. At this point, the magnetic block 6 is in direct contact with the stator wall 37, providing suction while also utilizing the tiny protrusions on the stator wall 37 beneath it to provide a vertical reaction force. Therefore, in this state, the rotor 3 can be stopped, and gravity balance is achieved entirely by the magnetic block, reducing power consumption and achieving extended operating time.

[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 servo 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 by adjusting the direction of the two rotors 3 in the middle of the device, the rotors 3 provide lateral aerodynamic force to ensure that the stator cleaning device does not separate from 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 vertical movement of the device as a whole and the differential are shown.

[0064] The stator cleaning device performs global position adjustment in the following ways: 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 differ, the stator cleaning device achieves a steering function due to 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 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 37: Figure 3 The overall global motion shown moves the stator cleaning device to the position to be cleaned.

[0068] The overall global motion is achieved through a combination of two motion modes: vertical motion and lateral position adjustment. The process of using the drive 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 force, while the rotors 3 in the wall-attached unit generate aerodynamic forces perpendicular to the stator wall 37. The process of using the drive module to drive the stator cleaning device to adjust its 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 lift forces, while 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, rotors 3 are open, providing weight balance and vertical (up and down) and differential motion (lateral position adjustment). Magnetic block 6 remains raised under the control of servo 5 and is not in contact with 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 servo 5 to realize the lowering action, so that the magnetic block 6 is directly facing and in direct contact with the stator wall 37, thereby activating 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 the 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 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 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 within 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 as follows:

[0074] The plane positioning module is used to move the working tool module so that the camera tool 12 is facing the current stator hole 38. 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 photographing operation. After the photographing 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 spraying tool 13 is facing the current stator hole 38. The linear through-type motor corresponding to the atomizing spraying tool 13 is used to drive the atomizing spraying tool 13 to extend into the current stator hole 38 and perform the atomizing spraying operation of the detergent. After the atomizing spraying operation of the detergent is completed, the corresponding linear through-type motor is used to retract the atomizing spraying tool 13.

[0076] The planar positioning module is used to move the working tool module so that the cleaning tool 14 is facing the current stator hole 38. The linear through-type motor corresponding to the cleaning tool 14 is used to drive the cleaning tool 14 into the current stator hole 38 and perform the cleaning operation. After the cleaning operation is completed, the 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 drive 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 servo 5 controls the magnetic block 6 to lift up, so that the magnetic block 6 is 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 all stator holes 38 are cleaned. Specifically, if the next stator hole 38 needs to be cleaned, the next stator hole 38 is set as the cleaning location and the process returns to step S1. If the next stator hole 38 does not need to be cleaned, the process ends.

[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 either side of the frame 1 (two at the top and two in the middle). The two rotors 3 in the middle of the frame 1 can dynamically adjust their orientation via their corresponding rotor steering motors 7, thereby providing a force perpendicular to the stator wall 37 and ensuring that the stator cleaning device remains adhered to the stator wall 37. The power and drive control required for the rotors 3 and rotor steering motors 7 are provided by the main control module 8 and the power supply module 9.

[0085] like Figure 3 As shown, during the movement, by adjusting the driving force of the rotors 3 on both sides simultaneously, 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 in the figure, the planar positioning module includes a primary motor 22, a primary connecting rod 23, a secondary motor 24, a secondary connecting rod 25, and a circular tool carrying platform 26. These motors 22, 23, 24, and 25 together form a Scara-shaped robotic arm. The robotic arm achieves planar positioning of the circular tool carrying platform 26 via two rotating joints. The circular tool carrying platform 26 is used to carry the work tool module. The manipulator's primary motor 22 is fixedly connected to the frame 1. The output shaft of the primary motor 22 is in transmission connection with the head end of the primary connecting rod 23. The distal end of the primary connecting rod 23 is connected to the secondary motor 24. The output shaft of the secondary motor 24 is in transmission connection with the head end of the secondary connecting rod 25. The distal end of the secondary connecting rod 25 is connected to the circular tool mounting platform 26, which is used to mount the work tool module. The circular tool mounting platform 26 is connected to the fixed end of the work drive motor in the work tool module. In a specific embodiment, the output shafts of the primary motor 22 and the secondary motor 24 are both rotating axes. The rotating axes are perpendicular to the positioning plane.

[0088] The above specific embodiments are used to illustrate the present invention rather than to limit the present invention. Any modifications and changes 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. Therefore, any 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 drive module is mounted on the frame (1) and is used to drive the stator cleaning device to move on the stator wall (37); the drive 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 (3), each pair of rotors (3) consisting of two rotors (3) symmetrically arranged on both sides of the frame (1); the wall-attaching unit also includes a rotor steering motor (7), the number of the rotor steering motors (7) and the number of the rotors (3) are the same and correspond one to one, the rotor steering motor (7) is mounted on the frame (1), and is transmission-connected to the corresponding rotor (3); A magnetic adsorption module is mounted on a frame (1) and is used to activate or release the adsorption of the stator cleaning device on the stator wall (37); the magnetic adsorption module comprises at least one pair of magnetic adsorption components; each magnetic adsorption component is 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 (37), the stator cleaning device can be activated. The device is adsorbed on the stator wall (37). At the same time, there are many tiny protrusions on the stator wall (37). The magnetic block (6) uses the tiny protrusions to form a rigid support in the vertical direction. Under the action of the vertical support force and the lateral adsorption force, the device is stably fixed on the stator wall (37). After successful fixation, the rotor (3) is closed; 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) can be released; 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 (37); A plane positioning module is mounted on the frame (1) and is used to carry and move the operation tool module. The operation drive motor is mounted on the plane positioning module.

2. The miniaturized stator cleaning device according to claim 1, characterized in that: In the operation tool module, the operation tools include a camera tool (12), an atomizing spray tool (13) and a cleaning tool (14), and the three operation drive motors are all linear through-type motors, and the operation drive motors are connected to the movable end of the plane positioning module; the operation 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) through the conduit (11).

3. The miniaturized stator cleaning device according to claim 1, characterized in that: The plane positioning module includes a horizontal tool carrying platform (15), a Y-direction lead screw motor (16), a Y-direction lead screw (17), a Y motion subframe (18), an X-direction 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 horizontal tool carrying platform (15) is connected to the operation drive motor; a gear drive motor (21) and a Y-direction screw motor (16) are installed on the Y-motion subframe (18), which are used to drive the gear (20) and the Y-direction screw (17), respectively; the X direction and the Y direction are parallel to the positioning plane, and the positioning plane is parallel to the stator wall (37).

4. 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) 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.

5. A stator cleaning method using the stator cleaning device according to any one of claims 1 to 4, 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 (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 (37); S5) Repeat steps S1 to S4 until the operation is completed.

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

7. The stator cleaning method according to claim 5, 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.

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