Cleaning robot and generator cleaning equipment

Abstract

The cleaning robot is used for entering a gap between a first target piece and a second target piece, and comprises a bearing body; the bearing body is provided with a gap, the dust suction device is connected with the bearing body, the dust suction device can enter the gap under the driving of the bearing body and can move in the gap, the dust suction device is provided with a dust suction port and a negative pressure port which are communicated with each other, and the dust suction port is communicated with an external vacuum device through the negative pressure port. The dust suction opening can face the to-be-cleaned surface of the first target piece or the second target piece. The cleaning robot is used for cleaning the generator, in the cleaning process, the rotor does not need to be pulled out of the stator, time and labor are saved, the stator and the rotor cannot collide in the cleaning process, and the generator cannot be damaged.

Description

Technical Field

[0001] The present application relates to the field of electrical maintenance technology, and in particular to a cleaning robot and a generator cleaning device. Background Art

[0002] The generator includes a stator and a rotor. The rotor is installed inside the stator. After the generator is put into use, it needs to be cleaned regularly to ensure the normal use of the generator.

[0003] Traditionally, when cleaning a generator, the rotor is usually pulled out of the stator and then the surface of the rotor is cleaned. To clean the stator, the staff needs to enter the stator chamber to clean it. After both the rotor and stator are cleaned, the rotor is reinstalled in the stator. This requires a lot of manpower and material resources and is time-consuming. At the same time, collisions may occur during the extraction process, damaging the generator. Utility Model Content

[0004] Based on this, it is necessary to provide a cleaning robot and generator cleaning equipment to address the problem that traditional cleaning of generators is time-consuming and labor-intensive.

[0005] A cleaning robot is used to enter a gap between a first target part and a second target part, the cleaning robot comprising:

[0006] a load-bearing body; and

[0007] A dust suction device is connected to the carrier body. The dust suction device can enter the gap under the drive of the carrier body and can move within the gap. The dust suction device is provided with a dust suction port and a negative pressure port that are interconnected. The dust suction port is connected to an external vacuum device through the negative pressure port. The dust suction port can be directed toward the surface to be cleaned of the first target part or the second target part.

[0008] In one embodiment, the dust collection device comprises:

[0009] A dust collecting member, wherein the dust collecting port and the negative pressure port are provided on the dust collecting member, and the dust collecting member is further provided with a dust collecting cavity, and the dust collecting cavity is respectively communicated with the dust collecting port and the negative pressure port;

[0010] a connecting rod, one end of which is connected to the dust collecting member, and the other end of which is rotatably connected to the carrying body, the connecting rod being used to drive the dust collecting member to rotate so that the dust collecting port faces the surface to be cleaned of the first target member or the second target member; and

[0011] An elastic member, wherein both ends of the elastic member are respectively connected to the connecting rod and the bearing body, so that the dust collecting member abuts against the surface to be cleaned.

[0012] In one embodiment, the dust collecting member comprises:

[0013] A dust collecting body connected to one end of the connecting rod, the dust collecting body being provided with the negative pressure port; and

[0014] The dust suction cover is arranged on the dust suction body and encloses the dust collecting cavity together with the dust suction body. The dust suction port is formed on the dust suction cover.

[0015] In one embodiment, a chamfer is formed on a side of the dust collection cover facing away from the dust collection body.

[0016] In one embodiment, the dust suction port extends along the length direction of the dust suction cover;

[0017] When the first target part is a stator and the second target part is a rotor, the length of the dust suction port is the width of a slot wedge of the rotor or the stator.

[0018] In one embodiment, the dust collection device further comprises:

[0019] A guide block is installed on the side of the connecting rod facing the dust suction port and connected to the dust suction piece. A guide surface is formed on the side of the guide block away from the connecting rod, and the guide surface is inclined toward the bearing body along the extension direction of the connecting rod.

[0020] In one embodiment, the number of the dust suction devices is at least two, at least one of the dust suction devices is used to clean the first target part, and at least one of the dust suction devices is used to clean the second target part.

[0021] In one embodiment, the interior of the carrier body is hollow to form an installation cavity, the dust suction device is arranged in the installation cavity, and a through hole is opened on the carrier body, the through hole is connected to the installation cavity, and the through hole is used to allow the dust suction device to be exposed outside the installation cavity.

[0022] In one embodiment, the cleaning robot further comprises:

[0023] a first imaging module, provided at an end of the carrier body, for collecting image information of the first target part or the second target part along the moving direction of the carrier body; and

[0024] The second imaging module is arranged in the installation cavity and close to the dust collecting device, and is used to collect image information of the surface to be cleaned.

[0025] A generator cleaning device comprises a driving robot and a cleaning robot as described above, wherein the driving robot is connected to the carrying body and is used to drive the carrying body to move the dust collecting device.

[0026] With the robot's driving mechanism, the suction device, along with the carrier body, enters the air gap between the rotor and stator from the outside. Through the suction port on the suction device, it cleans the stator surface and the rotor surface to be cleaned. Compared to traditional generator cleaning methods, this robot eliminates the need to remove the rotor from the stator, saving time and effort. Furthermore, the stator and rotor will not collide during cleaning, preventing damage to the generator. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of a cleaning device cleaning a generator in some embodiments of the present application.

[0028] Figure 2 for Figure 1 Schematic diagram of the structure of the cleaning robot when cleaning the rotor in the embodiment.

[0029] Figure 3 for Figure 2 Schematic diagram of the structure of the dust collection device in the embodiment.

[0030] Figure 4 for Figure 1 Schematic diagram of the structure of the cleaning robot cleaning the stator in the embodiment.

[0031] Figure 5 for Figure 4 A schematic structural diagram of the cleaning robot in the embodiment from another perspective.

[0032] Figure 6 for Figure 4 Schematic diagram of the structure of the dust collection device in the embodiment.

[0033] Description of reference numerals:

[0034] Cleaning robot 10;

[0035] Carrying body 100; tension block 110; mounting cavity 120; through hole 121;

[0036] Dust collection device 200; dust collection port 210; chamfer 240; dust collection member 250; connecting rod 251; guide block 252; guide surface 253; negative pressure port 254; dust collection body 270; dust collection cover 271;

[0037] First image module 300; lighting element 301; camera element 302; second image module 310;

[0038] Travel module 400; crawler assembly 410; travel wheel 420; crawler body 430;

[0039] Driving robot 20; slot changing part 21; synchronous belt 22; driving wheel 23;

[0040] Stator 30 ; rotor 40 ; air gap 50 . DETAILED DESCRIPTION

[0041] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0042] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0043] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0044] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0045] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0046] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0047] See Figure 1 Before introducing the cleaning robot 10 provided by one embodiment of the present application, a brief introduction to the structure of the generator is first given. Figure 1 The generator includes a stator 30 and a rotor 40 inserted into the stator 30. There is an air gap 50 between the stator 30 and the rotor 40. The rotor 40 can rotate around a central axis in the stator 30. After long-term use, the inner surface of the stator 30 and the ventilation holes of the stator 30, the outer surface of the rotor 40 and the ventilation holes of the rotor 40 will accumulate certain stains. At the same time, there will also be certain foreign matter in the air gap 50. Both the stains and foreign matter will affect the normal operation of the generator.

[0048] Therefore, it is necessary to regularly clean the stator 30 and the rotor 40 of the generator. The cleaning robot 10 provided by the embodiment of the present invention can clean the inner surface of the stator 30 and the outer surface of the rotor 40, which will be described in detail below.

[0049] Continue reading Figure 1 、 Figure 2 and Figure 3The present application provides a cleaning robot 10, which can enter the gap between a first target part and a second target part. When the cleaning robot 10 is used to clean the stator 30 and the rotor 40 of the generator, the first target part is the stator 30, the second target part is the rotor 40, and the gap between the first target part and the second target part is the air gap 50 between the stator 30 and the rotor 40.

[0050] For ease of description, the following description only focuses on the case where the first target part is the stator 30, the second target part is the rotor 40, and the gap between the first target part and the second target part is the air gap 50 between the stator 30 and the rotor 40. In actual use, according to cleaning needs, the first target part and the second target part may also be other parts, which is not limited here.

[0051] The cleaning robot 10 includes a carrying body 100 and a dust suction device 200. The dust suction device 200 is connected to the carrying body 100. Driven by the carrying body 100, the dust suction device 200 can enter the air gap 50 (i.e., the gap between the first target part and the second target part) between the stator 30 (i.e., the first target part) and the rotor 40 (i.e., the second target part) of the generator from the outside and move within the air gap 50.

[0052] The dust collecting device 200 is provided with a dust collecting port 210 and a negative pressure port 254 which are connected to each other. The dust collecting port 210 can be directed toward the surface to be cleaned of the stator 30 or the rotor 40. When the dust collecting port 210 is directed toward the surface of the stator 30, as shown in FIG. Figure 2 As shown in the structure, when the dust suction port faces the surface of the rotor 40, as shown in the Figure 4 、 Figure 5 The structure shown.

[0053] The dust suction port 210 is connected to an external vacuum device through the negative pressure port 254, so that negative pressure can also be formed inside the dust suction port 210. The negative pressure generated by the dust suction port 210 adsorbs stains and debris on the surface of the stator 30 or the surface of the rotor 40, thereby achieving the effect of cleaning the surface of the stator 30 or the surface of the rotor 40.

[0054] The cleaning robot 10 and the dust collection device 200, along with the carrier body 100, enter the air gap 50 between the rotor 40 and the stator 30 from the outside. Through the dust collection port 210 on the dust collection device 200, the surface of the stator 30 and the surface to be cleaned of the rotor 40 are cleaned. Compared to traditional generator cleaning methods, the cleaning robot 10 eliminates the need to remove the rotor 40 from the stator 30 during the cleaning process, saving time and effort. Furthermore, the stator 30 and rotor 40 do not collide during the cleaning process, preventing damage to the generator.

[0055] Among them, the cleaning robot 10 as a whole adopts an arc-shaped flat design to better fit the outer surface of the rotor 40. At the same time, the supporting body 100 is assembled in a modular manner to facilitate assembly and subsequent maintenance. At the same time, in order to reduce the total weight of the cleaning robot 10 as a whole, the cleaning robot 10 body is mostly made of lightweight aviation aluminum material. Secondly, the structural design adopts a hollow structure design. With an external dimension of 500mm×800mm×38mm, the total weight of the robot is only 4kg.

[0056] In some embodiments of this application, see Figure 3 and Figure 6 The dust collection device 200 includes a dust collection piece 250 and a connecting rod 251. The dust collection piece 250 is provided with a dust collecting chamber, a dust collection port 210 and a negative pressure port 254. The dust collection port 210 and the negative pressure port 254 are both connected to the dust collection chamber. When the negative pressure port 254 is connected to an external negative pressure device, a negative pressure is generated in the dust collection chamber through the negative pressure port 254, and finally a negative pressure is generated at the dust collection port 210. The dirt or debris sucked up by the dust collection port 210 in the process of cleaning the rotor 40 or the stator 30 will be concentrated in the dust collection chamber for later centralized processing.

[0057] One end of the connecting rod 251 is connected to the dust collecting piece 250, and the other end of the connecting rod 251 is rotatably connected to the supporting body 100. The connecting rod 251 is used to drive the dust collecting piece 250 to rotate so that the dust collecting port 210 is directed toward the stator 30 or the rotor 40, so that the dust collecting piece 250 can clean the surface to be cleaned of the stator 30 or the rotor 40 through the dust collecting port 210 on itself.

[0058] Optionally, one end of the connecting rod 251 is connected to the dust collecting member 250, and the other end is hinged to the supporting body 100 around a rotation axis, and the rotation axis intersects with the axial direction of the stator 30 or the rotor 40, so that the connecting rod 251 can rotate around the supporting body 100.

[0059] Furthermore, the dust collection device 200 includes an elastic member (not shown), the ends of which are connected to the connecting rod 251 and the carrier body 100, respectively, so that the dust collection member 250 abuts against the surface to be cleaned of the stator 30 or rotor 40. In other words, the elastic member provides a preload force for the dust collection member 250 to press against the stator 30 / rotor 40, thereby ensuring that the suction force generated by the dust collection port 210 acts as closely as possible on the surface of the stator 30 / rotor 40, thereby enhancing the cleaning effect on the surface of the stator 30 / rotor 40.

[0060] Among them, the elastic member is a tension spring, the two ends of which are respectively connected to the dust suction device 200 and the carrying body 100, and when the dust suction device 200 abuts against the stator 30 or the rotor 40, the tension spring is in a stretched or compressed state, so that the dust suction member 250 is pressed against the stator 30 or the rotor 40 through the tension spring.

[0061] It should be noted that, in some other embodiments, the elastic member may also be a spring, a rubber band or other elastic structure, which is not limited here.

[0062] Specifically in some embodiments, the dust collection part 250 includes a dust collection body 270 and a dust collection cover 271. The dust collection body 270 is connected to one end of the connecting rod 251. A negative pressure port 254 is provided on the dust collection body 270. The dust collection cover 271 is covered on the dust collection body 270 and together with the dust collection body 270 forms a dust collecting chamber. A dust collection port 210 is formed on the dust collection cover 271.

[0063] In actual use, the dust collecting member 250 can be assembled by placing the dust collecting cover 271 on the dust collecting body 270, which simplifies the installation steps of the dust collecting member 250. Moreover, after the cleaning work is completed, the dust collecting cover 271 can be removed from the dust collecting body 270, thereby facilitating the cleaning of stains or debris in the dust collecting chamber.

[0064] Specifically, in one embodiment, a chamfer 240 is provided on the side of the dust collection cover 271 facing away from the dust collection body 270. In actual use, since the surface of the stator 30 or the rotor 40 is a curved surface, the chamfer 240 provided on the dust collection cover 271 allows the dust collection member 210 to better fit the surface of the stator 30 or the rotor 40, thereby allowing the dust collection port 210 to be more closely attached to the surface of the stator 30 or the rotor 40, thereby improving the cleaning effect.

[0065] Optionally, chamfers 240 are provided on all sides of the dust collection cover 271 facing away from the dust collection body 270, so that when the supporting body 100 drives the dust collection device 200 to move in any direction, the dust collection cover 271 can fit with the surface of the stator 30 or the rotor 40, thereby improving the cleaning effect of the dust collection port 210.

[0066] Specifically in some embodiments, the dust suction port 210 extends along the length direction of the dust suction cover 271, that is, the dust suction port 210 is a strip hole, and the extension direction of the strip hole is the length direction of the dust suction cover 271, so that the dust suction port 210 can cover a larger area of ​​the surface to be cleaned at one time, thereby improving the cleaning effect of the cleaning robot 10.

[0067] The length of the dust suction port 210 is the width of the slot wedge of the stator or rotor, so that the cleaning robot 10 can move along the longitudinal direction of one of the slot wedges and clean the slot wedge at the same time. Optionally, the length of the dust suction port 210 ranges from 140mm to 180mm. In actual use, the cleaning robot 10, under the action of the driving robot 20 described below, changes slots at intervals of 140mm each time, and the length of the dust suction port 210 is preferably 180mm, so that after the cleaning robot 10 changes slots, the dust suction port 210 is still partially located at the position of the previous slot wedge, thereby allowing the dust suction range of the dust suction port 210 to overlap and cover the same position, achieving the effect of multiple cleanings.

[0068] During actual use, guard rings are provided at both ends of the rotor 40, so the cleaning robot 10 needs to pass through the guard rings before it can enter the air gap 50 between the rotor 40 and the stator 30. The diameter of the guard rings is usually larger than the diameter of the rotor 40. When the cleaning robot 10 equipped with a dust suction device 200 passes through the guard rings, the dust suction device 200 is likely to mechanically interfere with the guard rings, resulting in uneven movement of the cleaning robot 10.

[0069] To this end, specifically in some embodiments, see Figure 4 、 Figure 5 and Figure 6 The dust collecting device 200 further includes a guide block 252, which is mounted on the side of the connecting rod 251 facing the dust collecting port 210 and is connected to the dust collecting member 250. A guide surface 253 is formed on one end of the guide block 252 facing away from the connecting rod 251. The guide surface 253 is inclined toward the supporting body 100 along the extending direction of the connecting rod 251.

[0070] In this way, when the dust collecting device 200 passes through the guard ring, the dust collecting member 250 passes through the guard ring first, and then the height of the dust collecting member 250 is lowered, but the guard ring will abut against the guide block 252 to avoid direct contact between the guard ring and the connecting rod 251 to produce mechanical interference. Then, under the action of the guide surface 253, the dust collecting device 200 will smoothly pass through the step formed between the surface of the rotor 40 and the guard ring to avoid mechanical interference.

[0071] In some embodiments of this application, see Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 There are at least two dust collection devices 200 , at least one of which is used to clean the stator 30 (i.e., the first target component), and at least one of which is used to clean the rotor 40 (i.e., the second target component). Preferably, the dust collection devices 200 are detachably connected to the carrier body 100 .

[0072] In actual use, two dust suction devices 200 can be installed on the carrier body 100, with the dust suction ports 210 of the two dust suction devices 200 facing the surfaces of the stator 30 and the rotor 40 respectively, so that one dust suction device 200 is used to clean the stator 30 and the other dust suction device 200 is used to clean the rotor 40. In other embodiments, one dust suction device 200 can be installed according to the cleaning requirements of the generator, and the direction of the dust suction port 210 of the dust suction device 200 can be adjusted, such as Figure 3 and Figure 5 As shown, the dust suction device 200 can be used to clean the stator 30 or to clean the rotor 40 .

[0073] In some embodiments of the present application, a mounting cavity 120 is formed in the hollow interior of the carrier body 100, and the dust collection device 200 is disposed within the mounting cavity 120. A through hole 121 is formed in the carrier body 100, communicating with the mounting cavity 120. The through hole 121 is used to allow the dust collection device 200 to be exposed outside the mounting cavity 120. In this way, the mounting cavity 120 allows the larger portion of the dust collection device 200 to be disposed within the carrier body 100, which not only saves installation space for the dust collection device 200, but also, because only a portion of the dust collection member 250 extends out of the mounting cavity 120 through the through hole 121, the overall thickness of the dust collection device 200 is reduced, allowing it to fit into smaller gaps.

[0074] In some embodiments, the cleaning robot 10 further includes a first imaging module 300 and a second imaging module 310. The first imaging module 300 is located at the end of the carrier body 100 and is used to capture image information of the stator 30 (i.e., the first target component) or the rotor 40 (i.e., the second target component) along the direction of movement of the carrier body 100. Thus, the operator can use the first imaging module 300 to analyze the surface conditions of the rotor 40 and the stator 30, thereby identifying faults in the rotor 40 and stator 30 and implementing timely repairs.

[0075] The second image module 310 is arranged in the installation cavity 120 and is arranged close to the dust collection device 200, and is used to collect image information of the surface to be cleaned of the stator 30 or the rotor 40, that is, the cleaning work of the cleaning robot 10 is monitored in real time through the second image module 310 to check the cleaning condition of the surface of the stator 30 or the rotor 40.

[0076] Furthermore, the cleaning robot 10 includes a sound collection module, which is disposed on the carrier body 100 and is used to collect sound signals around the cleaning robot 10. The operator can monitor the overall operating status of the cleaning robot 10 by combining the collected sound signals with the image signals collected by the first imaging module 300 and the second imaging module 310. Optionally, the sound collection module includes a microphone, which is disposed on the same end of the carrier body 100 as the first imaging module 300.

[0077] In some embodiments, the first imaging module 300 includes an illumination element 301 and an imaging element 302. Both illumination element 301 and imaging element 302 are disposed at the end of the carrier body 100. The illumination element 301 illuminates the air gap 50, thereby facilitating image capture by the imaging element 302. Furthermore, the second imaging module also includes an imaging element 302. The imaging element 302 of the second imaging module 310 is disposed near the dust collection device 200 to facilitate the capture of image information of the surface to be cleaned.

[0078] In some embodiments of the present application, the cleaning robot 10 also includes a walking module 400, which is installed on the carrying body 100 and is used to support the carrying body 100 to move on the surface of the rotor 40. Through the walking module 400, the movement of the carrying body 100 on the surface of the rotor 40 is smoother, which is beneficial to the cleaning work of the dust collection device 200 on the rotor 40 or the stator 30.

[0079] In some embodiments, the travel module 400 includes two track assemblies 410, which are arranged on opposite sides of the load-bearing body 100 in the installation direction, with the installation direction being perpendicular to the travel direction of the load-bearing body 100. Each track assembly 410 includes two running wheels 420 and a track body 430. The two running wheels 420 are arranged on the load-bearing body 100 at intervals along the travel direction of the load-bearing body 100. The two running wheels 420 are connected by the track body 430, and the two track bodies 430 jointly support the movement of the load-bearing body 100.

[0080] Specifically, some embodiments of the present application provide an engine cleaning device, which includes the cleaning robot 10 described above. The specific structure of the cleaning robot 10 is similar to that of the above embodiments. Since the present engine cleaning device adopts all the technical solutions of all the above embodiments and has all the beneficial effects brought about by the technical solutions of the above embodiments, they will not be described in detail here.

[0081] The generator cleaning device further includes a drive robot 20, which is connected to the carrier body 100 and is used to drive the carrier body 100 and thereby move the dust collection device 200. Specifically, the drive robot 20 includes two slot-changing members 21 and a synchronous belt 22. The slot-changing members 21 are spaced apart and located at opposite ends of the rotor 40 along the axis. Each slot-changing member 21 is provided with a drive wheel 23. The synchronous belt 22 is movably wound along the axis of the rotor 40 between the drive wheels 23 of the two slot-changing members 21. The synchronous belt 22 passes through the air gap 50 and is connected to the carrier body 100 to drive the movement of the carrier body 100.

[0082] Thus, when the synchronous belt 22 moves within the air gap 50, it drives the carrier body 100 to move along the axis of the rotor 40, thereby bringing the cleaning robot 10 from the outside into the air gap 50 and continuing to drive the cleaning robot 10 to move along the axis of the rotor 40 within the air gap 50. Specifically, a tensioning block 110 is provided on the carrier body 100, and the carrier body 100 is connected to the synchronous belt 22 via the tensioning block 110, and the synchronous belt 22 drives the carrier body 100 to move within the air gap 50.

[0083] Furthermore, in addition to providing power through the driving wheel 23, the synchronous belt 22 can also detect the movement position information of the synchronous belt 22 through a position encoder, thereby obtaining the position information of the foreign object picking robot 10, so as to facilitate monitoring the position of the foreign object picking robot 10.

[0084] Specifically in some embodiments, each slot changing member 21 is rotatable around the axis of the rotor 40, so that the position of the synchronous belt 22 is changed by the rotation of the two slot changing members 21, and finally the position of the cleaning robot 10 relative to the rotor 40 and the stator 30 in the circumferential direction is changed to clean the circumferential surface of the rotor 40 and the stator 30.

[0085] The above cleaning equipment has at least the following advantages:

[0086] The cleaning robot 10 can clean the surface of the stator 30 and the ventilation holes, clean the surface of the rotor 40 and the ventilation holes, perform video inspection, and perform sound signal analysis inspection.

[0087] The cleaning robot 10 has an overall curved and flat design with a thickness of only 40 mm, which allows it to penetrate into the narrow air gap 50 between the generator stator 40 and the stator 30;

[0088] The movement of the cleaning robot 10 is driven by the synchronous belt 22 of the driving robot 20, so that the position of the cleaning robot 10 can be measured by an encoder;

[0089] The ventilation holes on the surface of the stator 30 and rotor 40 of the generator are cleaned by vacuum suction. The suction port 210 of the cleaning robot 10 can be in close contact with the surface of the stator 30 or rotor 40.

[0090] The cleaning robot 10 has a guide block 252 that allows it to smoothly pass through the step between the surface of the rotor 40 and the guard ring;

[0091] The cleaning robot 10 has a second imaging module 310 in the middle thereof, which can be used to observe the cleaning process.

[0092] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0093] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A cleaning robot for entering a gap between a first target part and a second target part, characterized in that: The cleaning robot comprises: a carrying body (100); and A dust suction device (200) is connected to the carrier body (100), and the dust suction device (200) can enter the gap under the drive of the carrier body (100) and can move in the gap. The dust suction device (200) is provided with a dust suction port (210) and a negative pressure port (254) that are interconnected. The dust suction port (210) is connected to an external vacuum device through the negative pressure port (254), and the dust suction port (210) can be directed toward the surface to be cleaned of the first target part or the second target part.

2. The cleaning robot according to claim 1, characterized in that: The dust collecting device (200) comprises: A dust collecting member (250), wherein the dust collecting port (210) and the negative pressure port (254) are provided on the dust collecting member (250), and the dust collecting member (250) is further provided with a dust collecting cavity, wherein the dust collecting cavity is respectively communicated with the dust collecting port (210) and the negative pressure port (254); a connecting rod (251), one end of the connecting rod (251) being connected to the dust collecting member (250), the other end of the connecting rod (251) being rotatably connected to the carrying body (100), the connecting rod (251) being used to drive the dust collecting member (250) to rotate so that the dust collecting port (210) faces the surface to be cleaned of the first target member or the second target member; and An elastic member, wherein both ends of the elastic member are respectively connected to the connecting rod (251) and the supporting body (100), so that the dust collecting member (250) abuts against the surface to be cleaned.

3. The cleaning robot according to claim 2, characterized in that: The dust collecting member (250) comprises: A dust collecting body (270) is connected to one end of the connecting rod (251), and the dust collecting body (270) is provided with the negative pressure port (254); and A dust suction cover (271) is provided on the dust suction body (270) and is enclosed together with the dust suction body (270) to form the dust collecting cavity. The dust suction port (210) is formed on the dust suction cover (271).

4. The cleaning robot according to claim 3, characterized in that: A chamfer (240) is provided on the side of the dust collecting cover (271) facing away from the dust collecting body (270).

5. The cleaning robot according to claim 3, characterized in that: The dust suction port (210) extends along the length direction of the dust suction cover (271); When the first target part is a stator (30) and the second target part is a rotor (40), the length of the dust suction port (210) is the slot wedge width of the rotor (40) or the stator (30).

6. The cleaning robot according to any one of claims 2 to 5, characterized in that: The dust collection device (200) further includes: A guide block (252) is mounted on a side of the connecting rod (251) facing the dust suction port (210) and connected to the dust suction member (250). A guide surface (253) is formed on a side of the guide block (252) facing away from the connecting rod (251). The guide surface (253) is inclined toward the supporting body (100) along the extension direction of the connecting rod (251).

7. The cleaning robot according to any one of claims 1 to 5, characterized in that: The number of the dust suction devices (200) is at least two, at least one of the dust suction devices (200) is used to clean the first target part, and at least one of the dust suction devices (200) is used to clean the second target part.

8. The cleaning robot according to any one of claims 1 to 5, characterized in that: The interior of the supporting body (100) is hollow to form an installation cavity (120), the dust collecting device (200) is arranged in the installation cavity (120), and a through hole (121) is opened on the supporting body (100), the through hole (121) is communicated with the installation cavity (120), and the through hole (121) is used to allow the dust collecting device (200) to be exposed outside the installation cavity (120).

9. The cleaning robot according to claim 8, characterized in that: The cleaning robot also includes: A first image module (300) is provided at an end of the carrier body (100) and is used to collect image information of the first target part or the second target part along a moving direction of the carrier body (100); and The second image module (310) is disposed in the installation cavity (120) and is arranged close to the dust collection device (200), and is used to collect image information of the surface to be cleaned.

10. A generator cleaning device, characterized in that: The cleaning robot (10) comprises a driving robot (20) and the cleaning robot (10) according to any one of claims 1 to 9, wherein the driving robot (20) is connected to the carrying body (100) and is used to drive the carrying body (100) to move the dust collecting device (200).

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