A curved surface self-adaptive mobile wall-climbing robot for cleaning a generator stator

Abstract

The application discloses a curved surface self-adaptive moving wall-climbing robot for generator stator cleaning. The two-axis arm module of the wall-climbing robot is used for rotating positioning to perform spraying, washing and checking on the area to be cleaned of the stator; the chassis module is used for magnetic adsorption moving during the generator stator cleaning; and the adjustable adsorption module is used for assisting the magnetic adsorption and is installed in the chassis module and located directly below the two-axis arm module. The cleaning process of the two-axis arm module of the wall-climbing robot improves the cleaning efficiency and completion of the stator holes; the chassis module adopts a special damping suspension structure and a rotatable telescopic hub connection to realize the adaptive fitting of the chassis hub and the stator curved surface; and the adjustable adsorption module can change the magnet ground adsorption distance to coordinate and control the magnetic adsorption force of the body. The application has the ability of adaptive moving and stable adsorption on the ferromagnetic curved surface of the generator stator, and the self-positioning and cleaning ability on the holes, and can perform efficient and safe automatic cleaning work on the stator.

Description

Technical Field

[0001] This invention relates to a wall-climbing robot, specifically a curved surface adaptive mobile wall-climbing robot for cleaning generator stators. Background Technology

[0002] In the full inspection of hydro-generator units, the stator winding cleaning process requires chemical cleaning of the ventilation holes at the upper and lower ends of the stator and the gaps between the channel steel and silicon steel sheet composite structures after the rotor is removed. This process is directly related to the heat dissipation efficiency and operational reliability of the unit. Traditional high-pressure gas-driven tools (air jet / spray / sandblasting type) have significant technical bottlenecks in implementation: the air jet device has poor operability in a confined space due to its bulky structure; the high-temperature steam accompanying spray cleaning can easily cause insulation aging and core moisture absorption risks; and the sandblasting process has the potential for media residue and substrate damage. More importantly, current cleaning solutions generally rely on manual operation, which faces multiple systemic defects—operators are exposed to toxic electrical cleaning agents for extended periods, and limited protective equipment and slippery working surfaces significantly increase occupational health risks; it is difficult to balance manual cleaning efficiency with surface coverage, especially when dealing with irregular ventilation holes formed by the stacked silicon steel sheet structure, where traditional rigid tools cannot achieve three-dimensional surface adaptive fitting, resulting in a cleaning blind spot rate of over 30%. Existing hole cleaning tools have limitations in their application and cannot adequately meet the needs of cleaning generator stators. Summary of the Invention

[0003] To address the problems existing in the background art, this invention provides a curved surface adaptive mobile wall-climbing robot for generator stator cleaning. This invention utilizes a cleaning device and an adaptive magnetic wheel chassis to clean stator surfaces with different hole spacings, enabling efficient and safe stator cleaning.

[0004] The technical solution adopted in this invention is:

[0005] I. A curved surface adaptive mobile wall-climbing robot for cleaning generator stators, comprising:

[0006] The two-axis arm module is used for three-degree-of-freedom rotational positioning to spray, scrub, and inspect the areas of the generator stator to be cleaned.

[0007] The chassis module is used for magnetic adsorption movement during generator stator cleaning, and the two-axis arm module is mounted on top of the chassis module.

[0008] The adjustable adsorption module is used to assist magnetic adsorption during generator stator cleaning. The adjustable adsorption module is installed in the chassis module and located directly below the two-shaft arm module.

[0009] The chassis module includes two main wheel sets and a chassis frame. The two main wheel sets are symmetrically mounted on both sides of the chassis frame, adapting to the curved surfaces of the motor stators in each direction. The chassis frame includes a knob, an upper base plate, four wheel set suspension connecting plates, a lifting component, and a lower base plate. The upper and lower base plates are horizontally spaced from top to bottom. The four wheel set suspension connecting plates are vertically spaced in pairs between the upper and lower base plates via several suspension pins, located on symmetrical sides. The upper and lower base plates are fixedly connected by several symmetrical suspension pins on both sides. The wheel set suspension connecting plates are guided to the suspension pins. Each suspension pin has a spring at its upper end for shock absorption by the chassis module. The two wheel suspension connecting plates on each side are spaced apart on the same vertical plane. The two wheel suspension connecting plates on the same side are arranged directly opposite the two wheel suspension connecting plates on the other side. Each wheel suspension connecting plate has a bearing seat hole in its center. Each main wheel set is hinged to the side of the chassis frame through the bearing seat holes of its two wheel suspension connecting plates. The adjustable adsorption module is installed on the upper and lower base plates and below the lower base plate through lifting components. The upper base plate has a mounting through hole in its top center. The knob is fitted into the mounting through hole and its bottom surface is connected to the top surface of the adjustable adsorption module. The two-axis arm module is installed on the top surface of the upper base plate and is located above the knob.

[0010] Each of the aforementioned wheel sets includes interconnected single-wheel sets and double-wheel sets. A single-wheel set includes a suspension connecting bracket, a single suspension, and a magnetically attached wheel. A double-wheel set includes a double suspension and two magnetically attached wheels. The single suspension is a U-shaped frame. A first hinge cylindrical block is provided on the side of the middle section of the single suspension away from the two side hinge lugs. One end of the middle section of the single suspension extends into a first connecting section along its length. The suspension connecting bracket is installed at the first connecting section. The ends of the two side hinge lugs of the single suspension are symmetrically positioned and aligned with each other along a direction parallel to the middle section. The magnetically attached wheels of the single-wheel set are hinged to the single suspension through the two hinge holes. The double suspension is a frame structure integrally formed from two U-shaped frames. One end of the middle section of one of the frames of the double suspension extends into a second connecting section along its length. Two magnetically attached wheels are provided on the second connecting section away from the first connecting section. A first hinge shaft is provided on one side of the side hinge lug section. The other side of the second connecting section is integrally formed with the side of the two side hinge lugs away from itself on the middle section of the other frame of the double suspension. A second hinge shaft is also provided in the middle of the side of the two side hinge lugs away from itself on the middle section of the other frame of the double suspension. The single suspension is hinged to the second hinge shaft of the double suspension through the suspension connecting bracket. The middle sections of the single suspension and the double suspension are parallel to each other and parallel to the suspension connecting plates of each wheel group. The ends of the two side hinge lugs of each frame of the double suspension are symmetrically provided with hinge through holes in a direction parallel to its own middle section. The two magnetic adsorption wheels of the double wheel group are respectively hinged to the two frames through the two hinge through holes of each frame of the double suspension. The single wheel group and the double wheel group are respectively hinged to the bearing seat holes of the two wheel group suspension connecting plates on the same side of the chassis module through the first hinge shaft.

[0011] Each of the aforementioned magnetic adsorption wheels includes a hub, a wheel motor, a motor mounting bracket, a magnet bracket, and a magnet. The wheel motor, motor mounting bracket, magnet bracket, and magnet are all installed inside the hub. The motor mounting bracket is a hollow cylinder, and the magnet bracket is a hollow fan-shaped ring. The motor mounting bracket is located directly above the magnet bracket, and the central axis of both is horizontally arranged. The top inner ring surface of the magnet bracket is installed on the bottom outer circumferential surface of the motor mounting bracket. The body of the wheel motor is fitted in the motor mounting bracket, and the magnet is fitted in the magnet bracket. The output shaft of the wheel motor is horizontal and synchronously connected to the flange center of the hub. Bearing sections are provided on the left and right symmetrical sides of the outer circumferential surface of the motor mounting bracket. The two bearing sections of each motor mounting bracket are respectively hinged to the hinge through holes of the hinge lugs on both sides of one of the frames of a single suspension or a double suspension.

[0012] The magnet includes a yoke, two magnets, and a magnetic shielding block. The yoke, the two magnets, and the magnetic shielding block are all fan-shaped and installed inside the magnet bracket. The magnetic shielding block is installed between the two magnets to form a small magnetic fan-shaped ring. The bottom surface of the outer ring of the yoke is installed on the top surface of the inner ring of the small magnetic fan-shaped ring to form a fan-shaped magnet. The yoke is located directly below the wheel motor. The shape of the magnet is completely adapted to the shape inside the magnet bracket. A magnetic shielding block is provided between the two magnets to form a magnetic array combination to enhance the magnetic attraction to the stator surface. The yoke is placed on the top to isolate the magnetic force of the magnet on the wheel motor.

[0013] The adjustable adsorption module includes a copper nut, an end cap, a bearing seat, a deep groove ball bearing, a T-screw, a limiting plate, a magnetic adsorption unit, and an adsorption module support plate. The copper nut is vertically arranged with its top surface coaxially connected to the bottom surface of the knob. The deep groove ball bearing is fitted onto the lower outer side of the copper nut, and the bearing seat is fitted onto the outer side of the deep groove ball bearing. The end cap is fitted onto the outer side of the copper nut, with its bottom surface mounted on the top surface of the bearing seat. The top surface of the end cap is mounted on the bottom surface of the upper base plate. The upper part of the T-screw is coaxially threaded into the copper nut to form a shaft-hole fit. The adsorption module support plate is horizontally arranged with an installation groove on its top surface. The magnetic adsorption unit includes three permanent magnets and two magnetically shielding copper blocks, all of which are installed in the installation groove. A magnetically shielding copper block is placed between every two permanent magnets. The three permanent magnets are arranged with two magnetically shielding copper blocks in between to form a magnetic array combination to enhance the magnetic attraction to the stator surface. The bottom surface of the T-screw is attached to the top surface of the middle permanent magnet, and the limiting plate is fitted onto the bottom outer side of the T-screw. It is installed on the top surface of three permanent magnets, two magnetic shielding copper blocks, and the adsorption module support plate, so that the lower end of the T-shaped screw is fixedly installed between the limiting plate, the three permanent magnets, the two magnetic shielding copper blocks, and the adsorption module support plate; the knob is fixed on the copper nut and rotates it. Under the transmission action of the internal thread of the copper nut and the external thread of the T-shaped screw, the T-shaped screw drives the magnetic adsorption unit to move up and down; the four corners of the adsorption module support plate are also symmetrically provided with limiting holes. The lifting components of the chassis frame include four lifting parts. Each lifting part includes a spring, a copper sleeve and a guide post. The lower part of the guide post of each lifting part is vertically installed in its own limiting hole. The copper sleeve is installed on the guide post and is located directly above the adsorption module support plate. The upper end of the guide post is provided with a limiting block. The spring is installed on the upper part of the guide post and is located between the limiting block and the copper sleeve. The bottom surface of the copper sleeve is installed on the top surface of the lower base plate. The lower part of the T-shaped screw, the limiting plate, the magnetic adsorption unit and the adsorption module support plate are all located directly below the lower base plate.

[0014] The dual-axis arm module includes a first arm assembly and a second arm assembly, providing two rotational degrees of freedom. The first arm assembly is mounted on the top surface of the upper base plate, with one end positioned above the knob. The second arm assembly is mounted on the top surface of the other end of the first arm assembly, i.e., at the rotational joint of the first arm. The second arm assembly includes an end cap, a spray unit, a spray solenoid valve, a second motor, a camera, a housing, a cylinder solenoid valve, a cleaning brush unit, and an endoscope unit. The end cap covers the top surface of the housing. The spray solenoid valve, the second motor, the camera, and the cylinder solenoid valve are all installed inside the housing. One side of the housing is located directly above the top surface of the other end of the first arm assembly. The second motor is located directly above the top surface of the other end of the first shaft arm assembly, and its output shaft passes vertically downward through the bottom surface of the housing and is synchronously connected to the top surface of the other end of the first shaft arm assembly. The camera is installed inside the other side of the housing and faces downward toward the stator surface directly below. The spray unit, cleaning brush unit, and endoscope unit are vertically spaced on the end cover and the housing, with their bottoms located between the bottom surface of the housing and the stator surface. The upper parts of the spray unit, cleaning brush unit, and endoscope unit are located above the end cover, and the positions of each unit are defined by positioning holes provided on the end cover and the housing. The spray solenoid valve is electrically connected to the spray unit, and the cylinder solenoid valve is electrically connected to the cleaning brush unit.

[0015] The spraying unit includes a spraying rod and a spraying rod fixing component. The spraying rod fixing component is installed on the inner bottom surface of the housing. The spraying rod is vertically fitted in the spraying rod fixing component, and the bottom spraying nozzle is located directly below the bottom surface of the housing and facing the stator surface. The spraying rod is electrically connected to the spraying solenoid valve.

[0016] The cleaning brush unit includes a lead screw stepper motor, a brush fixing component, and a brush head. The body of the lead screw stepper motor is mounted on the inner bottom surface of the housing. The brush lead screw of the lead screw stepper motor is arranged vertically and its bottom end is connected to the center of the top surface of the brush head through the brush fixing component. The brush head is located directly below the bottom surface of the housing and faces the stator slot of the stator.

[0017] The endoscope unit includes a pen-shaped cylinder, a cylinder fixing post, a guide rod, and an endoscope. The cylinder fixing post is installed on the inner bottom surface of the housing. The pen-shaped cylinder is vertically mounted in the cylinder fixing post with its output shaft vertically downward and synchronously connected to the upper end of the guide rod. The endoscope is installed at the lower end of the guide rod. The endoscope is located directly below the bottom surface of the housing and faces the stator slot of the stator. The pen-shaped cylinder is electrically connected to a cylinder solenoid valve.

[0018] The first shaft arm includes a first motor and a connecting rod. The body of the first motor is mounted on the top surface of one end of the connecting rod. One end of the connecting rod is located directly above the knob on the upper base plate. The output flange of the first motor passes through one end of the connecting rod and is connected to the top surface of the upper base plate. The knob is located inside the hollow part of the output flange. The top surface of the other end of the connecting rod is connected to the output shaft of the second motor.

[0019] II. A cleaning method for a curved surface adaptive mobile wall-climbing robot used for cleaning generator stators, comprising:

[0020] When the curved surface adaptive mobile wall-climbing robot cleans the generator stator, it first rotates a knob to make the distance between each copper sleeve in the lifting component and the limiting plate of the adjustable adsorption module reach a preset distance Δd. The magnetic adsorption unit of the adjustable adsorption module assists in adsorbing the stator surface. Then, the wheel motors of each magnetic adsorption wheel drive the wheel hub to rotate, causing the curved surface adaptive mobile wall-climbing robot to move on the stator surface. Simultaneously, the magnets adsorb the wheel hub onto the stator surface until the camera of the second axis arm assembly detects the area to be cleaned, stopping the movement and proceeding to clean the stator holes in the area to be cleaned. First, the first motor of the first axis arm and the second motor of the second axis arm assembly are started, causing the first and second axis arm assemblies to produce joint rotational angular displacement until the spray rod of the spray unit is directly facing the stator hole. The spray solenoid valve controls the spray rod to descend at a uniform speed into the stator hole and release cleaning fluid. After ensuring the hole wall is evenly coated with cleaning fluid, the spray rod is then controlled to rise at a uniform speed away from the stator hole, continuing the process. The system controls the first and second axis arm assemblies to generate joint rotational angular displacement until the brush head of the cleaning brush unit is directly facing the stator hole. The brush head is then controlled by the stepper motor of the lead screw stepper motor and the brush lead screw to descend uniformly into the stator hole and move up and down along the length of the lead screw for cleaning. Simultaneously, the brush head rotates around the central axis of the lead screw for cleaning. After multiple cycles of moving and rotating cleaning, the cleaning stops. The brush head is then controlled to rise uniformly away from the stator hole. The first and second axis arm assemblies are then controlled to generate joint rotational angular displacement until the endoscope of the endoscope unit is directly facing the stator hole. The pen-shaped cylinder is controlled by the cylinder solenoid valve to descend uniformly into the stator hole and observe and check whether the stator hole wall is clean. If it is not clean, the endoscope is controlled to rise uniformly away from the stator hole again, and the cleaning work on the stator hole of the area to be cleaned is repeated. If it is clean, the endoscope is controlled to rise uniformly away from the stator hole, and the camera detects the next area to be cleaned for cleaning.

[0021] This invention's wall-climbing robot features a two-axis arm module equipped with three cleaning units that can dynamically execute cleaning tasks based on the position of the end-effector camera. The cleaning process employs spraying, scrubbing, and inspection steps, improving the efficiency and completeness of stator hole cleaning. The chassis module's two-sided wheel sets consist of three pairs of magnetic adsorption wheels, utilizing a special shock-absorbing suspension structure and rotatable, telescopic wheel hubs to achieve adaptive contact between the chassis hubs and the stator's curved surface. An adjustable adsorption module is located at the bottom of the chassis module, allowing adjustment of the magnet's distance from the ground to coordinate and control the robot's magnetic attraction. The magnetic adsorption wheel sets and the chassis's adjustable adsorption module constitute the robot's magnetic adsorption system. This invention possesses the ability to adaptively move and stably adsorb on the ferromagnetic curved surface of a generator stator, and has the capability for autonomous positioning and cleaning of ventilation holes, enabling efficient and safe automatic stator cleaning.

[0022] The beneficial effects of this invention are:

[0023] 1. This invention has the ability to adaptively move and stably adsorb on ferromagnetic curved surfaces. It achieves automatic fitting of the machine body to the working curved surface in different directions through a suspension chassis structure and movable wheel set. The magnetic adsorption capability is enhanced by the synergistic magnetic adsorption of an adjustable adsorption module and three pairs of magnetic adsorption wheels, and the magnetic force is easy to control.

[0024] 2. This invention has the ability to clean holes autonomously. For a large number of stator ventilation holes with a large area, it proposes a spray-wash-inspection cleaning solution, which improves the cleaning efficiency of stator holes, ensures the cleaning completion rate, and reduces the cost of manual cleaning.

[0025] 3. This invention possesses the capability for autonomous hole positioning and cleaning. It employs a high-definition camera to locate and capture holes in the area to be cleaned, and uses an endoscope to observe and evaluate the cleaning effect, thus improving cleaning efficiency. Furthermore, it abandons the conventional method of cleaning while moving, instead using adsorption and fixation within the clean area, utilizing the reach of a two-axis robotic arm to achieve cleaning of large areas of holes. Attached Figure Description

[0026] Figure 1 These are the main assembly view and isometric view of the curved surface adaptive mobile wall-climbing robot of the present invention;

[0027] Figure 2 This is an exploded view of the curved surface adaptive mobile wall-climbing robot of the present invention;

[0028] Figure 3 This is a schematic diagram of the two-axis arm module and sub-components of the curved surface adaptive mobile wall-climbing robot of the present invention, wherein, Figure 3 (a) is the two-axis arm module of the present invention. Figure 3 (b) is the first arm of the two-axis arm module of the present invention. Figure 3(c) is the second arm of the two-axis arm module of the present invention. Figure 3 (d) is the cleaning brush unit of the two-axis arm module of the present invention. Figure 3 (e) is the endoscope unit of the biaxial arm module of the present invention. Figure 3 (f) is the liquid spraying unit of the two-axis arm module of the present invention;

[0029] Figure 4 This is a schematic diagram of the chassis module of the curved surface adaptive mobile wall-climbing robot of the present invention, wherein, Figure 4 (a) is a schematic diagram of the chassis module of the present invention. Figure 4 (b) is a schematic diagram of the overall wheel assembly of the chassis module of the present invention. Figure 4 (c) is a schematic diagram of the chassis frame of the chassis module of the present invention;

[0030] Figure 5 This is a schematic diagram of a sub-component of the chassis module of the curved surface adaptive mobile wall-climbing robot of the present invention. Figure 5 (a) is an exploded view of the magnetic adsorption wheel of the main wheel assembly of the chassis module of the present invention. Figure 5 (b) is a schematic diagram of the dual-wheel assembly of the chassis module of the present invention. Figure 5 (c) is a schematic diagram of a single wheel assembly of the chassis module of the present invention. Figure 5 (d) is a schematic diagram of the magnetic adsorption wheel of the main wheel assembly of the chassis module of the present invention exploding with magnets;

[0031] Figure 6 This is a schematic diagram of the adjustable adsorption module and sub-components of the curved surface adaptive mobile wall-climbing robot of the present invention, wherein, Figure 6 (a) is a perspective view and a bottom view of the adjustable adsorption module of the present invention. Figure 6 (b) is a cross-sectional view of the adjustable adsorption module of the present invention. Figure 6 (c) is a schematic diagram of the extension and retraction of the adjustable adsorption module of the present invention;

[0032] Figure 7 This is a schematic diagram of the working operation of the curved surface adaptive mobile wall-climbing robot of the present invention on the stator curved surface;

[0033] In the diagram: 1. Two-axis arm module; 11. First arm assembly; 111. First motor; 112. Connecting rod; 12. Second arm assembly; 121. End cap; 122. Spraying unit; 1221. Spraying rod; 1222. Spraying fixture; 123. Spraying solenoid valve; 124. Second motor; 125. Camera; 126. Housing; 127. Cylinder solenoid valve; 128. Cleaning brush unit; 1281. Brush screw; 1282. Stepper motor; 1283. Brush fixture; 1284. Brush head; 129. Endoscope unit; 1291. Pen-shaped cylinder; 1292. Cylinder fixing column; 1293. Guide rod; 1294. Endoscope; 2. Chassis module; 21. Wheel assembly; 211. Magnetic adsorption wheel; 2111. Wheel hub; 2112. Wheel motor; 2 113. Motor mounting bracket; 2114. Magnet bracket; 2115. Magnet; 21151. Yoke; 21152. Magnet; 21153. Magnetic shielding block; 212. Single wheel assembly; 2121. Suspension connecting bracket; 2122. Single suspension; 213. Dual wheel assembly; 2131. Dual suspension; 22. Chassis frame; 221. Knob; 222. Upper base plate; 223. Wheel assembly suspension connection. 224. Connecting plate, 225. Suspension pin, 225. Lifting component, 2251. Spring, 2252. Copper sleeve, 2253. Guide column, 226. Lower base plate, 3. Adjustable adsorption module, 31. Copper nut, 32. End cap, 33. Bearing seat, 34. Deep groove ball bearing, 35. T-type lead screw, 36. Limiting plate, 37. Permanent magnet, 38. Magnetic shielding copper block, 39. Adsorption module support plate. Detailed Implementation

[0034] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way.

[0035] like Figure 1 As shown, the curved surface adaptive mobile wall-climbing robot for generator stator cleaning of the present invention includes a two-axis arm module 1, a chassis module 2, and an adjustable adsorption module 3. The two-axis arm module 1 is used for three-degree-of-freedom rotational positioning to spray, scrub, and inspect the area of ​​the generator stator to be cleaned. The chassis module 2 is used for magnetic adsorption movement during generator stator cleaning, and the two-axis arm module 1 is mounted on top of the chassis module 2. The adjustable adsorption module 3 is used for auxiliary magnetic adsorption during generator stator cleaning, and is mounted in the chassis module 2 and located directly below the two-axis arm module 1. The two-axis arm module 1 carries a cleaning operation unit for cleaning and inspecting stator holes, the chassis module 2 is used for adaptive adsorption and movement of the stator curved surface, and the adjustable adsorption module 3 at the bottom is to assist and enhance the magnetic adsorption effect.

[0036] like Figure 2 , Figure 4of (a) Figure 4 (b) and Figure 4 As shown in (c), the chassis module 2 includes two main wheel sets 21 and a chassis frame 22. The two main wheel sets 21 are symmetrically installed on both sides of the chassis frame 22, which can adapt to the curved surfaces of the motor stators in each direction. The chassis frame 22 includes a knob 221, an upper base plate 222, four wheel set suspension connecting plates 223, a lifting component 225, and a lower base plate 226. The upper base plate 222 and the lower base plate 226 are arranged horizontally at intervals from top to bottom. The four wheel set suspension connecting plates 223 are vertically installed between the upper base plate 222 and the lower base plate 226 and located on symmetrical sides by several suspension pins 224. The upper base plate 222 and the lower base plate 226 are fixedly connected by several suspension pins 224 symmetrically on both sides. The wheel set suspension connecting plates 223 are guidedly connected to the suspension pins 224. The upper end of each suspension pin 224 is provided with a base plate for the chassis. The springs for shock absorption in module 2 have two wheel suspension connecting plates 223 on the same side, spaced apart on the same vertical plane. The two wheel suspension connecting plates 223 on the same side are arranged one-to-one with the two wheel suspension connecting plates 223 on the other side. Each wheel suspension connecting plate 223 has a bearing seat hole in its center. Each main wheel set 21 is hinged to the side of the chassis frame 22 through the bearing seat holes of its two wheel suspension connecting plates 223. The adjustable adsorption module 3 is installed on the upper base plate 222 and the lower base plate 226 and below the lower base plate 226 through the lifting component 225. The upper base plate 222 has a mounting through hole in its top center. The knob 221 is fitted into the mounting through hole and its bottom surface is connected to the top surface of the adjustable adsorption module 3. The two-axis arm module 1 is installed on the top surface of the upper base plate 222 and is located above the knob 221.

[0037] like Figure 5 (a) and Figure 5As shown in (b), each wheel assembly 21 includes a single wheel assembly 212 and a double wheel assembly 213 connected to each other. The single wheel assembly 212 includes a suspension connecting bracket 2121, a single suspension 2122, and a magnetically adsorbed wheel 211. The double wheel assembly 213 includes a double suspension 2131 and two magnetically adsorbed wheels 211. The single suspension 2122 has a U-shaped frame. A first hinge cylindrical connecting block is provided on the side of the middle section of the single suspension 2122 away from the two hinge lug sections. One end of the middle section of the single suspension 2122 extends into a first connecting section along its own length direction. The suspension connecting bracket 2121 is installed at the first connecting section. The suspension connecting bracket 2121 is also connected to the suspension via two protruding sleeves. The first connecting section of the single suspension 2122 is connected to form a linear sliding pair, which can change the connection length. The ends of the hinge lugs on both sides of the single suspension 2122 are symmetrically provided with hinge through holes in a direction parallel to the middle section. The magnetic adsorption wheel 211 of the single wheel assembly 212 is hinged to the single suspension 2122 through the two hinge through holes. The double suspension 2131 is a frame structure integrally formed by two U-shaped frame bodies. One end of the middle section of one of the frames of the double suspension 2131 extends into a second connecting section along its own length direction. The second connecting section has a first hinge shaft on one side away from the hinge lugs on both sides. The single suspension 2122 is integrally formed with the side of the hinge lugs on the middle section of the other frame of the double suspension 2131, away from itself. A second hinge shaft is also provided in the middle of the side of the hinge lugs on the middle section of the other frame of the double suspension 2131, away from itself. The single suspension 2122 is hinged to the second hinge shaft of the double suspension 2131 via the suspension connecting bracket 2121. The middle sections of the single suspension 2122 and the double suspension 2131 are parallel to each other and parallel to the suspension connecting plates 223 of each wheel set. The ends of the hinge lugs on both sides of each frame of the double suspension 2131 are symmetrically provided with hinge through holes in a direction parallel to its own middle section. The two wheels of the double wheel set 213... The magnetic adsorption wheel 211 is hinged to the two frames through two hinge holes of each frame of the double suspension 2131; the single wheel set 212 and the double wheel set 213 are respectively hinged to the bearing seat holes of the two wheel set suspension connecting plates 223 on the same side of the chassis module 2 through the first hinge shaft. The first hinge shaft of the single suspension 2122 cooperates with the bearing seat hole of the wheel set suspension connecting plate 223 to form a rotating pair; the double suspension 2131 adopts a stepped structure. The first middle section has a protruding first hinge shaft that cooperates with the bearing seat hole of the wheel set suspension connecting plate 223 to form a rotating pair. The second middle section has a protruding second hinge shaft that cooperates with the suspension connecting bracket 2121 to form a rotating pair.

[0038] like Figure 5As shown in (c), each magnetic adsorption wheel 211 includes a hub 2111, a wheel motor 2112, a motor mounting bracket 2113, a magnet bracket 2114, and a magnet 2115. The wheel motor 2112, the motor mounting bracket 2113, the magnet bracket 2114, and the magnet 2115 are all installed inside the hub 2111. The motor mounting bracket 2113 is a hollow cylinder, and the magnet bracket 2114 is a hollow fan-shaped ring. The motor mounting bracket 2113 is located directly above the magnet bracket 2114, and their central axes are all horizontally arranged. The top inner ring surface of the magnet bracket 2114 is installed on the bottom outer circumference surface of the motor mounting bracket 2113. The body of the wheel motor 2112 is fitted into the motor mounting bracket 2113. Magnet 2115 is fitted in magnet bracket 2114. The output shaft of wheel motor 2112 is horizontal and synchronously connected to the flange center of wheel hub 2111. Bearing sections are provided on the left and right symmetrical sides of the outer peripheral surface of motor mounting bracket 2113. The two bearing sections of each motor mounting bracket 2113 are respectively hinged to the hinge through holes of the hinge lugs on both sides of one of the frames of single suspension 2122 or double suspension 2131, so that the magnetic adsorption wheel 211 has a degree of freedom to rotate up and down. Several small rollers are also distributed on both sides of magnet bracket 2114 to contact the inner wall of wheel hub 2111 to form rolling friction and generate radial support force that can offset part of the cantilever gravity of wheel motor 2112.

[0039] like Figure 5 As shown in (d), the magnet 2115 includes a yoke 21151, two magnets 21152, and a magnetic shielding block 21153. The yoke 21151, the two magnets 21152, and the magnetic shielding block 21153 are all fan-shaped and installed inside the magnet bracket 2114. The magnetic shielding block 21153 is installed between the two magnets 21152 to form a small magnetic fan-shaped body. The bottom surface of the outer ring of the yoke 21151 is installed on the top surface of the inner ring of the small magnetic fan-shaped body to form a fan-shaped magnet 2115. The yoke 21151 is located directly below the wheel motor 2112. The shape of the magnet 2115 is completely adapted to the shape inside the magnet bracket 2114. The magnetic shielding block 21153 is provided between the two magnets 21152 to form a magnetic array combination to enhance the magnetic attraction force on the stator surface. The yoke 21151 is placed on the upper part to isolate the magnetic force of the magnet 2115 on the wheel motor 2112.

[0040] The knob 221 on the chassis frame 22 is used to adjust the height of the adjustable adsorption module 3 at the bottom. A magnetic shielding block 21153 is provided between the two magnets 21152 to enhance the magnetic force, while a yoke 21151 is provided at the top to reduce the magnetic attraction to the motor. Magnets 2115 are installed inside the magnet bracket 2114, ensuring that the maximum adsorption area of ​​the magnet always faces downwards towards the chassis module 2. The cantilever connecting bracket 2121 of the single wheel assembly 212 is movably connected parallel to the single suspension 2122 to achieve a telescopic function. The thinner shaft of the double suspension 2131 of the double wheel assembly 213 is connected to the hole in the suspension connecting bracket 2121 of the single wheel assembly 212, enabling the single wheel assembly 212 to rotate relative to the double wheel assembly 213.

[0041] like Figure 2 , Figure 6 of (a) Figure 6 (b) and Figure 6As shown in (c), the adjustable adsorption module 3 includes a copper nut 31, an end cap 32, a bearing seat 33, a deep groove ball bearing 34, a T-shaped lead screw 35, a limiting plate 36, a magnetic adsorption unit, and an adsorption module support plate 39. The copper nut 31 is vertically arranged and its top surface is coaxially connected to the bottom surface of the knob 221. The deep groove ball bearing 34 is fitted on the lower outer side of the copper nut 31, and the deep groove ball bearing 34 has a pair arranged coaxially at the top and bottom. The bearing seat 33 is fitted on the outer side of the deep groove ball bearing 34. The end cap 32 is fitted on the outer side of the copper nut 31 and its bottom surface is mounted on the top surface of the bearing seat 33. The top surface of the end cap 32 is mounted on the bottom surface of the upper base plate 222. The upper part of the T-shaped lead screw 35 is coaxially threaded into the copper nut 31 to form a shaft hole fit. The adsorption module support plate The magnetic adsorption unit, consisting of three permanent magnets 37 and two magnetically shielding copper blocks 38, is horizontally arranged with mounting grooves on its top surface. All three permanent magnets 37 and the two magnetically shielding copper blocks 38 are installed in the mounting grooves. A magnetically shielding copper block 38 is placed between every two permanent magnets 37. The three permanent magnets 37 are arranged with two magnetically shielding copper blocks 38 interspersed to form a magnetic array combination to enhance the magnetic attraction to the stator surface. The bottom surface of the T-shaped lead screw 35 is attached to the top surface of the middle permanent magnet 37. A limiting plate 36 is fitted onto the outer bottom of the T-shaped lead screw 35 and installed on the top surface of the three permanent magnets 37, the two magnetically shielding copper blocks 38, and the adsorption module support plate 39, so that the lower end of the T-shaped lead screw 35 is in contact with the limiting plate 36, the three permanent magnets 37, and the two magnetically shielding copper blocks 38. The magnetic adsorption unit is fixedly installed between the adsorption module support plate 39 and the copper nut 31. A knob 221 is fixed to the copper nut 31 to rotate. Under the transmission action of the internal thread of the copper nut 31 and the external thread of the T-screw 35, the T-screw 35 drives the magnetic adsorption unit to move up and down. Limiting holes are symmetrically opened at the four corners of the adsorption module support plate 39. The lifting component 225 of the chassis frame 22 includes four lifting parts. Each lifting part includes a spring 2251, a copper sleeve 2252, and a guide post 2253. The lower part of the guide post 2253 of each lifting part is vertically fitted into its respective limiting hole. The copper sleeve 2252 is fitted onto the guide post 2253 and located directly above the adsorption module support plate 39. A limiting block is provided at the upper end of the guide post 2253. Spring 2251 is fitted on the upper part of guide post 2253 and located between limit block and copper sleeve 2252. The bottom surface of copper sleeve 2252 is installed on the top surface of lower base plate 226. The lower part of T-shaped lead screw 35, limit plate 36, magnetic adsorption unit and adsorption module support plate 39 are all located directly below lower base plate 226. Guide post 2253 and copper sleeve 2252 cooperate to form a guide for the outer shell composed of adsorption module support plate 39 and limit plate 36. At the same time, spring 2251 on guide post 2253 is used to adjust the relative height of guide post 2253 and copper sleeve 2252, and also plays a role in buffering and shock absorption, so that the height of magnetic adsorption unit can be dynamically adjusted according to the height of adsorption surface.

[0042] The adjustable adsorption module 3 is used to adjust the magnetic adsorption strength of the robot chassis. The first arm 11 is the first mechanical arm closest to the robot body, with one horizontal rotational degree of freedom. The second arm 12 is the second mechanical arm farther from the robot body, also with one horizontal rotational degree of freedom. The combination of the two rotational degrees of freedom determines the reachable domain of the end of the two-axis arm module 1. Two wheel sets 21 are used for driving the robot. Three permanent magnets 37 are arranged with two magnetically shielding copper blocks 38 to form a magnetic array combination to enhance the magnetic attraction force. They are installed inside the adsorption module support plate to form a magnetic adsorption unit. The knob 221 is fixed on the copper nut 31 to make it rotate. Under the transmission action of the internal thread of the copper nut 31 and the external thread of the T-shaped screw 35, the T-shaped screw 35 drives the magnetic adsorption unit to move up and down.

[0043] like Figure 2 and Figure 3 (a) and Figure 3 As shown in (c), the two-axis arm module 1 includes a first arm assembly 11 and a second arm assembly 12, providing two rotational degrees of freedom. The first arm assembly 11 is mounted on the top surface of the upper base plate 222, with one end located above the knob 221. The second arm assembly 12 is mounted on the top surface of the other end of the first arm assembly 11, i.e., at the rotational joint of the first arm assembly 11. The second arm assembly 12 includes an end cap 121, a spray unit 122, a spray solenoid valve 123, a second motor 124, a camera 125, a housing 126, a cylinder solenoid valve 127, a cleaning brush unit 128, and an endoscope unit 129. The end cap 121 covers the top surface of the housing 126. The spray solenoid valve 123, the second motor 124, the camera 125, and the cylinder solenoid valve 127 are all installed inside the housing 126. One side of the housing 126 is located on the other side of the first arm assembly 11. Directly above the top surface of one end, the second motor 124 is located directly above the top surface of the other end of the first shaft arm assembly 11, and its output shaft passes vertically downward through the bottom surface of the housing 126 and is synchronously connected to the top surface of the other end of the first shaft arm assembly 11. The camera 125 is installed inside the other side of the housing 126 and faces downward toward the stator surface directly below. The spray unit 122, the cleaning brush unit 128, and the endoscope unit 129 are vertically spaced on the end cover 121 and the housing 126, with their bottoms located between the bottom surface of the housing 126 and the stator surface. The upper parts of the spray unit 122, the cleaning brush unit 128, and the endoscope unit 129 are located above the end cover 121, and the positions of each unit are defined by the positioning holes provided on the end cover 121 and the housing 126. The spray solenoid valve 123 is electrically connected to the spray unit 122, and the cylinder solenoid valve 127 is electrically connected to the cleaning brush unit 128. The camera 125 is used to observe the position and morphology of the stator surface to be cleaned, the spray solenoid valve 123 controls the spray unit 122 to spray cleaning fluid, and the cylinder solenoid valve 127 controls the up and down feed of the endoscope unit 129.

[0044] like Figure 3 As shown in (f), the spraying unit 122 includes a spraying rod 1221 and a spraying rod fixing member 1222. The spraying rod fixing member 1222 is installed on the inner bottom surface of the housing 126. The spraying rod 1221 is vertically fitted in the spraying rod fixing member 1222 and the bottom spraying nozzle is located directly below the bottom surface of the housing 126 and facing the stator surface. The spraying rod 1221 is electrically connected to the spraying solenoid valve 123.

[0045] like Figure 3 As shown in (d), the cleaning brush unit 128 includes a lead screw stepper motor, a brush holder 1283, and a brush head 1284. The body of the stepper motor 1282 of the lead screw stepper motor is mounted on the inner bottom surface of the housing 126. The brush lead screw 1281 of the lead screw stepper motor is arranged vertically and its bottom end is connected to the center of the top surface of the brush head 1284 through the brush holder 1283. The brush head 1284 is located directly below the bottom surface of the housing 126 and faces the stator slot of the stator. The brush head 1284 can be a cylindrical brush head. The stepper motor 1282 drives the rotation and up-down feed of the brush lead screw 1281 so that the brush head 1284 can move up and down and rotate to clean the stator slot.

[0046] like Figure 3 As shown in (e), the endoscope unit 129 includes a pen-shaped cylinder 1291, a cylinder fixing post 1292, a guide rod 1293, and an endoscope 1294. The cylinder fixing post 1292 is installed on the inner bottom surface of the housing 126. The pen-shaped cylinder 1291 is vertically mounted in the cylinder fixing post 1292, with its output shaft vertically downward and synchronously connected to the upper end of the guide rod 1293. The endoscope 1294 is installed on the lower end of the guide rod 1293. The endoscope 1294 is located directly below the bottom surface of the housing 126 and faces the stator slot of the stator. The pen-shaped cylinder 1291 is electrically connected to a cylinder solenoid valve 127. The cylinder solenoid valve 127 controls the gas flow of the pen-shaped cylinder 1291, indirectly controlling the up and down movement of the guide rod 1293, so that the endoscope 1294 can be fed up and down to adjust the observation height. The endoscope 1294 has a certain conical viewing angle range.

[0047] The spray unit 122 controls the spraying of cleaning fluid via a spray solenoid valve 123. The endoscope unit 129 controls the extension and retraction of the endoscope 1294 via a cylinder solenoid valve 127. The cleaning brush unit 128 controls the up-and-down movement and rotation of the brush head 1284 via a stepper motor 1282. The spray unit 122, endoscope unit 129, and cleaning brush unit 128 constitute a cleaning operation unit. The stepper motor 1282 of the cleaning brush unit 128 controls the rotation and linear motion of the brush screw 1281, enabling the brush head 1284 to move up and down and rotate. The cylinder solenoid valve 127 controls the extension and retraction of the guide rod 1293 via a pen-shaped cylinder 1291. The extension and retraction of the guide rod 1293 achieves the up-and-down movement of the endoscope 1294, which has a certain cone-angle field of view. The spray solenoid valve 123 controls the spray flow rate of the cleaning fluid inside the spray rod 1221 of the spray unit 122.

[0048] like Figure 3 As shown in (b), the first shaft arm 11 includes a first motor 111 and a connecting rod 112. The body of the first motor 111 is mounted on the top surface of one end of the connecting rod 112. One end of the connecting rod 112 is located directly above the knob 221 on the upper base plate 222. The output flange of the first motor 111 passes through one end of the connecting rod 112 and connects to the top surface of the upper base plate 222. The knob 221 is located inside the hollow part of the output flange. The knob 221 needs to be manually adjusted. The height of the magnetic adsorption unit of the adjustable adsorption module 3 has been pre-set. The first motor 111 and the connecting rod 112 are then mounted on the upper base plate 222 at the location of the knob 221. The top surface of the other end of the connecting rod 112 is connected to... The output shaft of the second motor 124 is connected; the first motor 111 is installed on the upper part of the circular joint of the connecting rod 112. The connecting rod 112 is installed above the knob 221 of the chassis frame 22 through this circular joint, forming a first-stage rotary joint. The connecting rod 112 is installed at the rotating joint of the second shaft arm 12 through the circular joint at the other end, and is driven to rotate by the second motor 124, forming a second-stage rotary joint; the first motor 111 is specifically a RH-17 hollow motor (integrated harmonic module) with dual encoders. The output end disc is a hollow flange with a hollow center; when the output flange of the first motor 111 rotates, the connecting rod 112 is rotated by the body, while the output flange remains stationary.

[0049] The cleaning method of the curved surface adaptive mobile wall-climbing robot for cleaning generator stators of the present invention is as follows:

[0050] like Figure 7As shown, when the curved surface adaptive mobile wall-climbing robot is cleaning the generator stator, it first rotates knob 221 to make the distance between each copper sleeve 2252 in the lifting component 225 and the limiting plate 36 of the adjustable adsorption module 3 reach a preset distance Δd. The magnetic adsorption unit of the adjustable adsorption module 3 assists in adsorbing the stator surface. Then, the wheel motor 2112 of each magnetic adsorption wheel 211 drives the wheel hub 2111 to rotate, making the curved surface adaptive mobile wall-climbing robot move on the stator surface. At the same time, the wheel hub 2111 is adsorbed onto the stator surface by each magnet 2115, until the second shaft arm assembly 1. Camera 125 of unit 2 detects the area to be cleaned, stops moving, and begins cleaning the stator holes in the area. First, it starts the first motor 111 of the first shaft arm 11 and the second motor 124 of the second shaft arm assembly 12, causing the first shaft arm 11 and the second shaft arm assembly 12 to rotate at an angle until the spray rod 1221 of the spray unit 122 is directly facing the stator hole. The spray solenoid valve 123 controls the spray rod 1221 to descend at a constant speed into the stator hole and release cleaning fluid. After ensuring the cleaning fluid is evenly applied to the hole wall, the spray rod 1221 is then controlled to rise at a constant speed away from the stator hole, continuing the process. The first shaft arm 11 and the second shaft arm assembly 12 generate joint rotational angular displacement until the brush head 1284 of the cleaning brush unit 128 is directly facing the stator hole. The stepper motor 1282 of the lead screw stepper motor and the brush lead screw 1281 control the brush head 1284 to descend at a constant speed into the stator hole and move up and down along the length of the brush lead screw 1281 for cleaning. Simultaneously, the brush head 1284 rotates around the central axis of the brush lead screw 1281 for cleaning. After multiple cycles of moving and rotating cleaning, cleaning stops. The brush head 1284 is then controlled to rise at a constant speed away from the stator hole, and the first shaft arm 11 and the second shaft arm assembly continue to be controlled. Component 12 generates a joint rotational angular displacement until the endoscope 1294 of the endoscope unit 129 is directly facing the stator hole. The pen-shaped cylinder 1291 is controlled by the cylinder solenoid valve 127 to make the endoscope 1294 descend into the stator hole at a constant speed and observe and detect whether the stator hole wall is clean. If it is not clean, the endoscope 1294 is controlled to rise at a constant speed and leave the stator hole, and the cleaning work of the stator hole in the area to be cleaned is repeated. If it is clean, the endoscope 1294 is controlled to rise at a constant speed and leave the stator hole, and the next area to be cleaned is detected by the camera 125 and the cleaning work is continued.

[0051] The two-axis arm module 1 is a serial robotic arm with two horizontal rotational movements and three vertical movements. A first motor 111 controls the rotation of the first arm 11, a second motor 124 controls the rotation of the second arm 12, a spray solenoid valve 123 controls the up-and-down movement of the spray unit 122, a stepper motor 1282 controls the up-and-down movement of the cleaning brush unit 128, and a cylinder solenoid valve 127 controls the up-and-down movement of the endoscope unit 129. The end effectors of the two-axis arm module 1 are the spray unit 122, the cleaning brush unit 128, and the endoscope unit 129. The motion range of the end effectors is a large circular fan-shaped area around the machine body.

[0052] Regarding magnetic adsorption, during robot cleaning, the six magnetic adsorption wheels 211 of chassis module 2 remain in fixed positions, and the internal magnets 2115 are continuously activated. Simultaneously, the adjustable adsorption module 3 adjusts the magnetic adsorption distance appropriately according to the height of the working curved surface at the bottom of chassis module 2, thus providing auxiliary adsorption for chassis module 2. This combination of magnetic wheel adsorption and chassis adsorption ensures the robot's stable adsorption on the working curved surface. For surface adaptation, the main wheel sets 21 on both sides of chassis module 2 are connected to the chassis frame and can move up and down with damping, providing cushioning and shock absorption, reducing the impact of instability caused by obstacles encountered during robot movement. The single wheel set 212 and double wheel set 213 of the main wheel set 21 adopt a combination of single suspension 2122 and double suspension 2131, respectively, ensuring that the angle adjustment of the front and rear wheel sets can adapt to curved surfaces with changes in the front-to-back direction. The bearing protrusions on both sides of the motor mounting bracket 2113 of the magnetic adsorption wheel 211 are respectively hinged to the hinge lugs of the single suspension 2122 and the double suspension 2131, ensuring that the wheel hub 2111 can rotate up and down to adapt to the curved surface that changes in the left and right directions.

[0053] When the three cleaning units are operating, the magnetic adsorption wheel 211, in conjunction with the adjustable adsorption module 3, ensures the stability of the robot's operation, guaranteeing that the robot can stably adhere to the vertical stator curved surface. The motion reach of the two-axis arm module 1 is a large circular fan-shaped area around the body, which increases the robot's cleaning area and greatly improves the efficiency of the robot's on-site cleaning operation without requiring continuous robot movement.

[0054] The wall-climbing robot can stably adhere and fix itself to any orientation on a vertical stator surface for extended periods, and can continuously move and turn in any direction. When working, the robot first moves to the designated cleaning area, activates the camera 125 of the two-axis arm module 1 to detect the area to be cleaned, and then executes the spray unit 122 to uniformly descend and release cleaning fluid into the hole. After ensuring the hole wall is evenly coated with cleaning fluid, the robot determines the rotation angles of the two joints of the two-axis arm module 1 according to the body coordinate system and the world coordinate system, aligning the cleaning brush unit 128 with the slot hole. Then, the cleaning brush unit 128 is controlled to move up and down, while the brush head 1284 rotates. After completing multiple up-and-down cleaning cycles, the endoscope unit 129 is aligned with the slot hole in the same manner, and the endoscope unit 129 is controlled to slowly move into the hole to observe and check whether the hole wall is clean. If the cleaning is successful, the two-axis arm module 1 uses the camera 125 to locate the next adjacent slot to be cleaned, controls the joint rotation angle displacement of the first motor 111 and the second motor 124, so that the cleaning unit is aligned with the position of the next adjacent slot to be cleaned, and repeats the above process to clean the adjacent slots.

[0055] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this invention.

Claims

1. A curved surface adaptive mobile wall-climbing robot for cleaning generator stators, characterized in that, include: The two-axis arm module (1) is used for three-degree-of-freedom rotational positioning to spray, scrub and inspect the area to be cleaned on the generator stator; The chassis module (2) is used for magnetic adsorption movement during generator stator cleaning, and the two-axis arm module (1) is installed on top of the chassis module (2); Adjustable adsorption module (3) is used for auxiliary magnetic adsorption during generator stator cleaning. The adjustable adsorption module (3) is installed in the chassis module (2) and located directly below the two-shaft arm module (1). The chassis module (2) includes two main wheel sets (21) and a chassis frame (22). The two main wheel sets (21) are symmetrically installed on both sides of the chassis frame (22). The chassis frame (22) includes a knob (221), an upper base plate (222), four wheel set suspension connecting plates (223), a lifting component (225), and a lower base plate (226). The upper base plate (222) and the lower base plate (226) are arranged horizontally from top to bottom. The four wheel set suspension connecting plates (223) are vertically installed between the upper base plate (222) and the lower base plate (226) through several suspension pins (224) and are located on symmetrical sides. The two wheel set suspension connecting plates (223) on the same side are located on the same vertical plane. 223) are arranged opposite to the two wheel suspension connecting plates (223) on the other side. Each wheel suspension connecting plate (223) has a bearing seat hole in the center. Each total wheel set (21) is hinged to the side of the chassis frame (22) through the bearing seat holes of its two wheel suspension connecting plates (223). The adjustable adsorption module (3) is installed on the upper base plate (222) and the lower base plate (226) and below the lower base plate (226) through the lifting component (225). The upper base plate (222) has an installation through hole in the center of the top surface. The knob (221) is fitted in the installation through hole and its bottom surface is connected to the top surface of the adjustable adsorption module (3). The two-axis arm module (1) is installed on the top surface of the upper base plate (222) and located above the knob (221).

2. The curved surface adaptive mobile wall-climbing robot for generator stator cleaning according to claim 1, characterized in that: Each of the aforementioned wheel sets (21) includes interconnected single wheel sets (212) and double wheel sets (213). The single wheel set (212) includes a suspension connecting bracket (2121), a single suspension (2122), and a magnetic adsorption wheel (211). The double wheel set (213) includes a double suspension (2131) and two magnetic adsorption wheels (211). The single suspension (2122) is a U-shaped frame. A first hinge cylindrical connecting block is provided on the side of the middle section of the single suspension (2122) away from the two hinge lugs. One end of the middle section of the single suspension (2122) extends along its own length. The first connecting section extends outwards, and the suspension connecting bracket (2121) is installed at the first connecting section. The ends of the hinge lugs on both sides of the single suspension (2122) are symmetrically provided with hinge through holes in a direction parallel to the middle section. The magnetic adsorption wheel (211) of the single wheel assembly (212) is hinged to the single suspension (2122) through the two hinge through holes of the single suspension (2122). The double suspension (2131) is a frame structure integrally formed by two U-shaped frame bodies. One end of the middle section of one of the frames of the double suspension (2131) extends outwards along its own length direction to form the second connecting section. The second connecting section has a first hinge shaft on one side of the hinge lugs on both sides away from itself. The other side of the second connecting section is integrally formed with one side of the hinge lugs on both sides away from itself on the middle section of the other frame of the double suspension (2131). A second hinge shaft is also provided in the middle of the side of the hinge lugs on both sides away from itself on the middle section of the other frame of the double suspension (2131). The single suspension (2122) is hinged to the second hinge shaft of the double suspension (2131) through the suspension connecting bracket (2121). The single suspension (2122) and the double suspension (2131) are connected together. The middle sections are all parallel to each other and parallel to the suspension connecting plates (223) of each wheel group. The ends of the hinged ear sections on both sides of each frame of the double suspension (2131) are symmetrically provided with hinged through holes in a direction parallel to its own middle section. The two magnetic adsorption wheels (211) of the double wheel group (213) are respectively hinged to the two frames through the two hinged through holes of each frame of the double suspension (2131). The single wheel group (212) and the double wheel group (213) are respectively hinged to the bearing seat holes of the two wheel group suspension connecting plates (223) on the same side of the chassis module (2) through the first hinge shaft.

3. The curved surface adaptive mobile wall-climbing robot for generator stator cleaning according to claim 2, characterized in that: Each of the aforementioned magnetic adsorption wheels (211) includes a hub (2111), a wheel motor (2112), a motor mounting bracket (2113), a magnet bracket (2114), and a magnet (2115). The wheel motor (2112), motor mounting bracket (2113), magnet bracket (2114), and magnet (2115) are all installed inside the hub (2111). The motor mounting bracket (2113) is a hollow cylinder, and the magnet bracket (2114) is a hollow fan-shaped ring. The motor mounting bracket (2113) is located directly above the magnet bracket (2114), and their central axes are all horizontally arranged. The magnet bracket (2114)... The top inner ring surface of the motor is installed on the bottom outer circumference of the motor mounting bracket (2113). The body of the wheel motor (2112) is fitted in the motor mounting bracket (2113). The magnet (2115) is fitted in the magnet bracket (2114). The output shaft of the wheel motor (2112) is horizontal and synchronously connected to the flange center of the wheel hub (2111). Bearing sections are provided on the left and right symmetrical sides of the outer circumference of the motor mounting bracket (2113). The two bearing sections of each motor mounting bracket (2113) are respectively hinged to the hinge through holes of the hinged lugs on both sides of one of the frames of the single suspension (2122) or the double suspension (2131).

4. The curved surface adaptive mobile wall-climbing robot for generator stator cleaning according to claim 3, characterized in that: The magnet (2115) includes a yoke (21151), two magnets (21152), and a magnetic shielding block (21153). The yoke (21151), the two magnets (21152), and the magnetic shielding block (21153) are all fan-shaped and installed inside the magnet bracket (2114). The magnetic shielding block (21153) is installed between the two magnets (21152) to form a small magnetic fan-shaped body. The bottom surface of the outer ring of the yoke (21151) is installed on the top surface of the inner ring of the small magnetic fan-shaped body to form a fan-shaped magnet (2115). The yoke (21151) is located directly below the wheel motor (2112).

5. The curved surface adaptive mobile wall-climbing robot for generator stator cleaning according to claim 1, characterized in that: The adjustable adsorption module (3) includes a copper nut (31), a first end cap (32), a bearing seat (33), a deep groove ball bearing (34), a T-screw (35), a limiting plate (36), a magnetic adsorption unit, and an adsorption module support plate (39). The copper nut (31) is vertically arranged and its top surface is coaxially connected to the bottom surface of the knob (221). The deep groove ball bearing (34) is fitted on the lower outer side of the copper nut (31). The bearing seat (33) is fitted on the outer side of the deep groove ball bearing (34). The first end cap (32) is fitted on the outer side of the copper nut (31) and its bottom surface is mounted on the bearing. The top surface of the seat (33) and the top surface of the first end cap (32) are mounted on the bottom surface of the upper base plate (222). The upper part of the T-shaped lead screw (35) is coaxially threaded and fitted into the copper nut (31). The adsorption module support plate (39) is horizontally arranged and has an installation groove on its top surface. The magnetic adsorption unit includes three permanent magnets (37) and two magnetic shielding copper blocks (38). The three permanent magnets (37) and the two magnetic shielding copper blocks (38) are all installed in the installation groove. There is a magnetic shielding copper block (38) between every two permanent magnets (37). The bottom surface of the T-shaped lead screw (35) is attached to the middle permanent magnet. The top surface of the magnet (37), the limiting plate (36) is fitted on the bottom outside of the T-shaped lead screw (35) and installed on the top surface of the three permanent magnets (37), the two magnetic shielding copper blocks (38) and the adsorption module support plate (39); the adsorption module support plate (39) is also symmetrically provided with limiting holes at the four corners; the lifting component (225) of the chassis frame (22) includes four lifting parts, each lifting part including a spring (2251), a copper sleeve (2252) and a guide post (2253), the lower part of the guide post (2253) of each lifting part is vertically fitted on its respective In a limiting hole, a copper sleeve (2252) is fitted on a guide post (2253) and located directly above the adsorption module support plate (39). A limiting block is provided at the upper end of the guide post (2253). A spring (2251) is fitted on the upper part of the guide post (2253) and located between the limiting block and the copper sleeve (2252). The bottom surface of the copper sleeve (2252) is installed on the top surface of the lower base plate (226). The lower part of the T-shaped lead screw (35), the limiting plate (36), the magnetic adsorption unit and the adsorption module support plate (39) are all located directly below the lower base plate (226).

6. The curved surface adaptive mobile wall-climbing robot for generator stator cleaning according to claim 1, characterized in that: The two-axis arm module (1) includes a first arm assembly (11) and a second arm assembly (12); the second arm assembly (12) includes a second end cap (121), a spray unit (122), a spray solenoid valve (123), a second motor (124), a camera (125), a housing (126), a cylinder solenoid valve (127), a cleaning brush unit (128), and an endoscope unit (129). The second end cap (121) covers the top surface of the housing (126). The spray solenoid valve (123), the second motor (124), the camera (125), and the cylinder solenoid valve (127) are all installed inside the housing (126). One side of the housing (126) is located on the top surface of the other end of the first arm assembly (11). The second motor (124) is located directly above the top surface of the other end of the first shaft arm assembly (11), and its output shaft passes vertically downward through the bottom surface of the housing (126) and is synchronously connected to the top surface of the other end of the first shaft arm assembly (11). The camera (125) is installed inside the other side of the housing (126) and faces downward toward the stator surface directly below. The spray unit (122), the cleaning brush unit (128) and the endoscope unit (129) are vertically spaced on the second end cover (121) and the housing (126), and their bottoms are located between the bottom surface of the housing (126) and the stator surface. The spray solenoid valve (123) is electrically connected to the spray unit (122), and the cylinder solenoid valve (127) is electrically connected to the cleaning brush unit (128).

7. The curved surface adaptive mobile wall-climbing robot for generator stator cleaning according to claim 6, characterized in that: The spraying unit (122) includes a spraying rod (1221) and a spraying rod fixing member (1222). The spraying rod fixing member (1222) is installed on the inner bottom surface of the housing (126). The spraying rod (1221) is vertically fitted in the spraying rod fixing member (1222) and the bottom spraying nozzle is located directly below the bottom surface of the housing (126) and facing the stator surface. The spraying rod (1221) is electrically connected to the spraying solenoid valve (123). The cleaning brush unit (128) includes a lead screw stepper motor, a brush fixing component (1283) and a brush head (1284). The body of the stepper motor (1282) of the lead screw stepper motor is installed on the inner bottom surface of the housing (126). The brush lead screw (1281) of the lead screw stepper motor is arranged vertically and its bottom end is connected to the center of the top surface of the brush head (1284) through the brush fixing component (1283). The brush head (1284) is located directly below the bottom surface of the housing (126) and faces the stator slot of the stator. The endoscope unit (129) includes a pen-shaped cylinder (1291), a cylinder fixing post (1292), a guide rod (1293), and an endoscope (1294). The cylinder fixing post (1292) is installed on the inner bottom surface of the housing (126). The pen-shaped cylinder (1291) is vertically mounted in the cylinder fixing post (1292) and its output shaft is vertically downward and synchronously connected to the upper end of the guide rod (1293). The lower end of the guide rod (1293) is equipped with the endoscope (1294). The endoscope (1294) is located directly below the bottom surface of the housing (126) and faces the stator slot of the stator. The pen-shaped cylinder (1291) is electrically connected to the cylinder solenoid valve (127).

8. The curved surface adaptive mobile wall-climbing robot for generator stator cleaning according to claim 7, characterized in that: The first shaft arm assembly (11) includes a first motor (111) and a connecting rod (112). The body of the first motor (111) is mounted on the top surface of one end of the connecting rod (112). One end of the connecting rod (112) is located directly above the knob (221) on the upper base plate (222). The output flange of the first motor (111) passes through one end of the connecting rod (112) and is connected to the top surface of the upper base plate (222). The knob (221) is located inside the hollow part of the output flange. The top surface of the other end of the connecting rod (112) is connected to the output shaft of the second motor (124).

9. The cleaning method for a curved surface adaptive mobile wall-climbing robot for cleaning generator stators according to any one of claims 1-8, characterized in that, include: When the curved surface adaptive mobile wall-climbing robot is cleaning the generator stator, it first rotates the knob (221) so that the distance between each copper sleeve (2252) in the lifting component (225) and the limiting plate (36) of the adjustable adsorption module (3) reaches a preset distance. The magnetic adsorption unit of the adjustable adsorption module (3) assists in adsorbing the stator surface. Then, the wheel motor (2112) of each magnetic adsorption wheel (211) drives the wheel hub (2111) to rotate, so that the curved surface adaptive mobile wall-climbing robot moves on the stator surface. At the same time, the wheel hub (2111) is adsorbed onto the stator surface by each magnet (2115) until the second shaft arm assembly (1 2) The camera (125) detects the area to be cleaned, stops moving, and begins cleaning the stator holes in the area to be cleaned. First, the first motor (111) of the first shaft arm assembly (11) and the second motor (124) of the second shaft arm assembly (12) are started, causing the first shaft arm assembly (11) and the second shaft arm assembly (12) to generate joint rotational displacement until the spray rod (1221) of the spray unit (122) is facing the stator hole. The spray rod (1221) is controlled to descend at a constant speed into the stator hole and release the cleaning liquid through the spray solenoid valve (123). Then, the spray rod (1221) is controlled to rise at a constant speed away from the stator hole, and the first shaft arm assembly (122) is controlled to continue to move. The arm assembly (11) and the second shaft arm assembly (12) generate joint rotational angular displacement until the brush head (1284) of the cleaning brush unit (128) is directly facing the stator hole. The stepper motor (1282) of the lead screw stepper motor and the brush lead screw (1281) control the brush head (1284) to descend at a constant speed into the stator hole and move up and down along the length direction of the brush lead screw (1281) for cleaning. At the same time, the brush head (1284) rotates around the central axis of the brush lead screw (1281) for cleaning. After multiple moving cleaning and rotating cleaning, the cleaning stops. The brush head (1284) is controlled to rise at a constant speed away from the stator hole. The first shaft arm assembly (11) and the second shaft arm assembly (12) continue to be controlled. The two-axis arm assembly (12) generates a joint rotational displacement until the endoscope (1294) of the endoscope unit (129) is facing the stator hole. The pen-shaped cylinder (1291) is controlled by the cylinder solenoid valve (127) to make the endoscope (1294) descend into the stator hole at a constant speed and observe and detect whether the stator hole wall is clean. If it is not clean, the endoscope (1294) is controlled to rise at a constant speed and leave the stator hole. The cleaning work of the stator hole in the area to be cleaned is repeated. If it is clean, the endoscope (1294) is controlled to rise at a constant speed and leave the stator hole. The next area to be cleaned is detected by the camera (125) and the cleaning work is continued.

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