• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Robotic system for the inspection of electric generators. The present invention relates to a robotic system for the inspection of electric generators comprising a set of magnets and modules of axial and circumferential displacement that keep it fixed to the stator of the electric generator at any position in the air gap in the axial direction and in the direction circumferential, where the robotic system for the inspection of electric generators is independent of the electrical generator to be analyzed, being able to adapt said system to any geometry that said generator presents. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2589513A1
    申请号:ES201530638
    申请日:2015-05-11
    公开日:2016-11-14
    发明作者:Óscar MARTÍNEZ OTERINO；Alberto VILLARRUBIA CASTELLANOS；Sergio RODRÍGUEZ RUIZ
    申请人:Iberdrola Generacion SA；
    IPC主号:
    专利说明:

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    ROBOTIZED SYSTEM FOR THE INSPECTION OF ELECTRIC GENERATORS
    D E S C R I P C I O N
    OBJECT OF THE INVENTION
    The present invention relates to a robotic system for the inspection of electric generators comprising a set of magnets and axial and circumferential displacement modules that keep it fixed to the stator of the electric generator at any position in the air gap and that allow its movement in axial direction and circumferential direction. Also, the system comprises an advanced vision subsystem and an inspection subsystem comprising independent modules that can be coupled to carry out different types of inspection on the electric generator, such as carrying out the verification of the tightening of the static cradles and the verification of the integrity of the magnetic package.
    The object of the present invention is a robotic system for the inspection of electric generators that is independent of the electric generator to be analyzed, said system being able to adapt to any geometry presented by said generator.
    BACKGROUND OF THE INVENTION
    Robotic systems for the inspection of electric generators whose fixation to the surface of the stator is magnetic being able to move axially, and of solutions where the fixation on the surface of the stator is by means of pressure by pneumatic systems are known in the state of the art. the rotor, by inserting a rail or guidance system in the air gap, the presence of the generator rotor being essential for its operation, which allows the equipment to not require an electrical supply for its fixation, but at the cost of being able to move exclusively on the stator's magnetic package and where in its front part it has a device to which the modules are connected and that includes lifting mechanisms or positioners that move the sensors from the insertion position to the one necessary to perform the inspection. Among the attachable modules are transducers or devices for carrying out the cradle test.
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    Among the previous systems is the patent with publication number EP1772949A1, which also includes a small camera on the front to allow the operator to have feedback on the real movement of the equipment during manual operation, as well as verify that the sensors are correctly placed.
    The previous system is designed only for the inspection and testing of the generator retention rings and is designed to move on a smooth, polished surface of uniformly magnetic material. It cannot move on serrated cylindrical surfaces, such as the stator, where the tooth height is formed by magnetic material, magnetic plate of the alternator body, and the sunken part or groove, where the cradle is housed, is non-magnetic material.
    The previous system also does not allow inspection of machines with different tooth-groove geometries and different machine curvatures.
    In addition, in the previous system, the geometry of the retaining ring on which the system is to be coupled is accessible from outside the machine, so that the operator has only to adapt the shape of the system to the surface of the ring. rotor retention to carry out the inspection. However, this would not be possible to carry out on machine parts such as the stator, which are not accessible from the outside.
    Another limitation of the previous system is that since the inspection systems have to pass through a small space, sometimes smaller than the air gap, since the generator presents obstacles in the circumferential direction such as the hydrogen deflector, it is necessary to remove said element before of positioning the inspection system, which slows down the commissioning of the inspection.
    All these inconveniences are overcome with the invention that is now described.
    DESCRIPTION OF THE INVENTION
    The present invention relates to a robotic system for the inspection of electric generators comprising an inspection device. The inspection device comprises a travel subsystem that integrates the necessary elements for
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    that the inspection device is moved and oriented and an inspection subsystem consisting of different independent modules to carry out various types of inspections and tests on the electric generator.
    The displacement subsystem comprises a circumferential displacement module and an axial displacement module that allow carrying out the circumferential and axial displacement of the device respectively due to the actuation of actuators.
    The inspection device allows, due to the travel subsystem, to alternate the traction from one movement to another at any time and position. For this, the circumferential displacement module comprises a retractable mechanism that allows, when activated, the movement in the circumferential direction of the inspection device and allows movement in the axial direction of said inspection device in case it is retracted.
    The inspection device comprises holding magnets that allow the magnetic fixation of said inspection device to be carried out on the surface of the stator, which means that it does not require an electrical supply for its fixation. These magnets allow both axial and circumferential displacement of the inspection device to be carried out, since the attraction force is sufficient to support the weight of the system even in an inverted position thereof, but less than a predetermined force that does not allows to carry out the movement of the same.
    The inspection device further comprises a coupling device that allows fixing the different modules of the inspection subsystem, among which are, among others, a module for magnetization tests, a module for crib tightening tests, a core imperfection detection module, a visual inspection module or a sampling module. The coupling device comprises a lifting mechanism that moves the modules of the inspection tests from the insertion position to the position necessary to perform said inspection.
    The robotic system for the inspection of electric generators also includes a set of connections for the transmission of data from the inspection device to
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    a central processing unit and fixing elements that allow the inspection device to be recovered in an emergency.
    The inspection device comprises a chassis comprising a central body and two lateral wings on both sides of the central body and attached thereto, to allow access to the air gap through the transition zone of the stator without cradles to the area with cradles, where there is a very steep step that can be around 17 mm. Preferably, the circumferential displacement module of the displacement subsystem is arranged in the central body of the chassis and the axial displacement module is arranged in the lateral wings of the chassis, the central body comprising at least one circumferential displacement device and each of the lateral wings at least one axial displacement device.
    The inspection device also includes slot location sensors that allow the position of the inspection device to be determined at all times with respect to the stator grooves, so that the actuators of the axial displacement module transmit the same traction to each of the axial displacement devices of the lateral wings per unit of the support surface on the stator. This is because the support surface of each axial displacement device may be different for each of the lateral wings depending on the position occupied by the device at a given time with respect to the stator grooves, being able to support more surface of one of the lateral wings than another on the surface of the stator teeth. If the traction transmitted to each axial displacement device per unit of support surface in the teeth is different from one side wing to another, the inspection device could be detached from the stator, since the imbalance of forces will cause a greater turning moment than the one that is supported by magnets.
    Optionally, the lateral wings are articulated to the central body and are actuated by means of lifting and lowering the lateral wings, which allows the adjustment of the lateral wings to the curvature of the stator is automatic. This allows the inspection device to adapt to any stator curvature, even in electric generators where the geometry is not known and therefore the stator curvature since in many cases the geometry data of the electric generators is not available , because this information is not provided by the manufacturer. In this way, the robotic system inspection device inspects electric generators of
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    The present invention adapts to different electric generator geometries in a high range of curvatures and groove and tooth dimensions.
    The axial displacement devices of each of the lateral wings have a width greater than the width of the groove of the electric generator to be analyzed, which allows said displacement devices to rest on the two tooth surfaces of the magnetic package adjacent to a groove. . This geometry avoids the possibility that the inspection device is cantilevered over the groove without traction.
    Optionally, the central body also comprises magnetic rollers that keep the separation distance between said central body and the toothed surface of the stator of the electric generator fixed.
    Optionally, the inspection device comprises at least one camera that allows an operator to have feedback on the actual movement of the inspection device, as well as to verify that the inspection subsystem modules are correctly positioned. The camera can incorporate a light source.
    The robotic system for the inspection of electric generators comprises a control unit optionally arranged in the central processing unit to control at all times the position and orientation of the inspection device within the electric generator, where the control unit registers permanently and in time Realize the following inspection device parameters:
    • Axial position (cradle).
    • Circumferential position (groove).
    • Drift angle, understanding as such the angle that the equipment can deflect when moving axially from the axis line.
    Optionally, the control unit performs automatic adjustment of the lateral wings to the curvature of the stator.
    BRIEF DESCRIPTION OF THE DRAWINGS
    Figure 1 shows a top perspective view of the inspection device of the robotic system for the inspection of electric generators of the present invention.
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    Figure 2 shows a bottom perspective view of the inspection device of the robotic system for the inspection of electric generators of the present invention.
    Figure 3 shows a perspective view of the coupling device that allows fixing the different modules of the inspection subsystem.
    PREFERRED EMBODIMENT OF THE INVENTION
    Next, the robotic system for the inspection of electric generators of the present invention will be described in detail.
    The robotic system for the inspection of electric generators comprises a magnetic fixing inspection device (1) comprising a displacement subsystem comprising a circumferential displacement module (2) and an axial displacement module (3) that allow carrying out the circumferential and axial displacement of the device respectively due to the actuation of actuators (4).
    The circumferential displacement module (2) comprises a retractable mechanism (not shown) that allows, when activated, the movement in the circumferential direction of the inspection device (1) and allows movement in the axial direction of said inspection device (1), in case of being retracted.
    The inspection device (1) comprises a chassis comprising a central body (6) where the circumferential displacement module (2) and two lateral wings (7) are located on both sides of the central body (6) and articulated with respect to the same (6) where the axial displacement module (3) is arranged. The circumferential displacement module (2) comprises four circumferential displacement devices (8), preferably toothed belts or rubber wheels, arranged in the central body (6), and the axial displacement module (3) comprises two axial displacement devices (9), preferably toothed belts or rubber wheels, each of which (9) is arranged on one of the side wings (7).
    The retractable mechanism of the circumferential displacement module (2) collects or removes the circumferential displacement devices (8). In addition, the inspection device (1)
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    It comprises lifting and lowering mechanisms (10) of the lateral wings (7) that allow the lateral wings (7) to be approximated or separated from the stator body by pneumatic, electric or hydraulic actuation, to allow the support of axial displacement devices (9) and adjust the inspection device (1) to the curvature of the stator. To drive the circumferential displacement of the inspection device (1), the circumferential displacement devices (8) are removed by means of the retractable mechanism and the lateral wings (7) are separated from the stator. Once the inspection device (1) is circumferentially displaced, the circumferential displacement devices (8) are collected and the lateral wings (7) are lowered with the lifting and lowering mechanisms (10).
    The lifting and lowering mechanisms comprise electric, pneumatic or hydraulic pistons (10) fixed by one of its ends to the central body (6) and by another of its ends to the lateral wings (7), which allows carrying out a automatic adjustment of the lateral wings (7) to the curvature of the stator.
    The actuation of each of the lifting and lowering means (10) of the side wings (7) is independent, which allows the inspection device (1) to move forward and backward, if both are operated simultaneously and in the same direction, or correct the orientation in both directions, if they are operated independently or simultaneously in opposite directions. This freedom of movement and control of the axial displacement devices (9) arranged in the lateral wings (7), allowing the reorientation of the inspection device.
    The inspection device (1) also includes groove location sensors (11) to determine the position of the inspection device (1) with respect to the stator grooves. A control unit uses the information provided by the slot location sensors (11) to govern the axial displacement devices (9) of the side wings (7) and to reorient the position of the inspection device.
    Both the circumferential displacement module (2) and the axial displacement module (3) comprise said actuator (4), or motor, a transmission mechanism (12) and said displacement device, circumferential (8) or axial ( 9) respectively.
    The central body (6) of the inspection device (1) comprises holding magnets (13) arranged in the central body (6) that allow the magnetic fixing of the
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    said inspection device (1) on the surface of the stator and magnetic rollers (14) that maintain fixed the separation distance between said central body (6) and the toothed surface of the stator of the electric generator. Preferably, both the holding magnets (13) and the magnetic rollers (14) are permanent magnets since they have a good force-volume ratio, are highly reliable and independent of signals and electrical supply.
    Alternatively, the inspection device (1) comprises magnetic suction cups (not shown) that can be disconnected by means of an electrical signal that allows decoupling the inspection device (1) from the stator.
    The inspection device (1) also comprises an inspection subsystem formed by different independent modules to carry out different types of inspections and tests on the electric generator, where said inspection subsystem comprises a coupling device (15) that allows carrying carried out the fixation of the different modules of the inspection subsystem, among which there is a module for magnetization tests, a module for crib tightening tests, a module for detecting imperfections in the core, a visual inspection module (16 ) or a sampling module. The coupling device (15) comprises a lifting mechanism (17) that moves the modules of the inspection tests from the position of insertion to the position necessary to perform said inspection. This coupling device (15) is arranged on the front of the inspection device (1) according to its axial advance on the electric generator, and positioned in such a way that it allows the modules to be centered with the inspection device (1).
    Initially the lifting mechanism (17) is electrically actuated to provide fine control of the position, or pneumatically for better control over the pressure that the module can exert.
    The robotic system for the inspection of electric generators also includes a set of connections (18) for the transmission of data from the inspection device (1) to a central processing unit (not shown) and fixing elements (19) which allow to recover the inspection device (1) in case of emergency.
    The inspection device comprises a rear navigation camera (23) that allows
    to an operator to have feedback on the actual movement of the inspection device (1), as well as to verify that the modules of the inspection subsystem are correctly positioned.
    5 The robotic system for the inspection of electric generators comprises the control unit arranged in the central processing unit to control at all times the position and orientation of the inspection device (1) inside the electric generator, where to know its axial position, the actuators (4) of the axial displacement module (3) comprise a first encoder (20) that allows to know at all times the position of the 10 axial displacement devices (9) with respect to a reference position, while to know the circumferential position, the inspection device (1) comprises an inertial inclination sensor (21) that provides a reading of the angle rotated from a reference position.
    Additionally, the actuator (4) of the circumferential displacement module (2) comprises a second encoder (22) to monitor the operation of passage from one slot to the next.
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    权利要求:
    Claims (14)
    [1]
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    R E I V I N D I C A C I O N E S
    1. - Robotized system for the inspection of electric generators comprising an inspection device (1) and a control unit for the position and orientation of the inspection device (1) inside the electric generator, where the inspection device (1) understands:
    • a subsystem of displacement, and;
    • an inspection subsystem
    characterized in that the displacement subsystem comprises a circumferential displacement module (2) and an axial displacement module (3) that allow the circumferential and axial displacement of the device to be carried out respectively due to the actuation of actuators (4); where the inspection device (1) also includes:
    • fastening magnets (13) that allow the magnetic fixation of said inspection device (1) on the serrated surface of the stator of the electric generator,
    • a chassis comprising a central body (6) and two lateral wings (7) on both sides of the central body (6) and attached thereto (6), and
    • groove location sensors (11) that allow to determine at all times the position of the inspection device (1) with respect to the stator grooves, and
    where the circumferential displacement module (2) of the displacement subsystem is arranged in the central body (6) of the chassis and the axial displacement module (3) is arranged in the lateral wings (7) of the chassis, the body comprising central (6) at least one circumferential displacement device (8) and each of the lateral wings (7) at least one axial displacement device (9) and where the actuators (4) of the axial displacement module (3) transmit the same traction to each of the axial displacement devices (9) of the lateral wings (7) per unit of support surface on the stator.
    [2]
    2. - Robotized system for the inspection of electric generators according to revindication 1 characterized in that the lateral wings (7) are articulated to the central body (6) and are activated by means of elevation and descent mechanisms (10) of the lateral wings (7 ) so that the control unit carries out the automatic adjustment of the lateral wings (7) to the curvature of the stator.
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    [3]
    3. - Robotized system for the inspection of electric generators according to claim 2 characterized in that the lifting and lowering mechanisms (10) of the lateral wings (7) comprise electric, pneumatic or hydraulic pistons (10) fixed by one of their ends to the central body (6) and by another of its ends to the lateral wings (7).
    [4]
    4. - Robotized system for the inspection of electric generators according to claim 3 characterized in that the actuation of the lifting and lowering means (10) of each of the lateral wings (7) is independent.
    [5]
    5. - Robotized system for the inspection of electric generators according to any of the
    previous claims characterized in that the displacement module
    Circumferential (2) comprises a retractable mechanism that allows, when activated, the movement in the circumferential direction of the inspection device (1) and allows movement in the axial direction of said inspection device (1) if it is retracted.
    [6]
    6. - Robotized system for the inspection of electric generators according to claim 5 characterized in that the retractable mechanism of the circumferential displacement module (2) collects or extracts the circumferential displacement devices (8).
    [7]
    7. - Robotized system for the inspection of electric generators according to any of the
    previous claims characterized in that the displacement module
    circumferential (2) comprises four circumferential displacement devices (8) arranged in the central body (6), and the axial displacement module (3) comprises two axial displacement devices (9) each of which (9) is arranged on one of the side wings (7).
    [8]
    8. - Robotized system for the inspection of electric generators according to claim 7 characterized in that both the circumferential displacement module (2) and the axial displacement module (3) comprise a transmission mechanism (12) of the movement of the actuators to the device of displacement, circumferential (8) or axial (9) respectively.
    [9]
    9. - Robotized system for the inspection of electric generators according to any of the
    previous claims characterized in that the inspection device (1) comprises magnetic rollers (14) that keep the separation distance between the central body (6) and the toothed surface of the stator of the electric generator fixed.
    5 10.- Robotized system for the inspection of electric generators according to any of
    the preceding claims characterized in that the inspection device (1) comprises magnetic suction cups disconnectable by means of an electric signal to decouple the inspection device (1) from the stator.
    10 11.- Robotized system for the inspection of electric generators according to any of
    The preceding claims characterized in that the actuators (4) of the axial displacement module (3) comprise a first encoder (20) which allows to know at all times the position of the axial displacement devices (9) with respect to a reference position.
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    [12]
    12. - Robotized system for the inspection of electric generators according to any of the preceding claims characterized in that the inspection device (1) comprises an inertial inclination sensor (21) that provides a reading of the angle rotated from a reference position.
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    [13]
    13. - Robotized system for the inspection of electric generators according to revindication 12 characterized in that the actuator (4) of the circumferential displacement module (2) comprises a second encoder (22) to monitor the operation of passage from one slot to the next.
    25
    [14]
    14. - Robotized system for the inspection of electric generators according to any of the preceding claims characterized in that the inspection device (1) comprises a rear navigation chamber (23).
    30 15.- Robotized system for the inspection of electric generators according to any of
    the preceding claims characterized in that it comprises a set of connections (18) for the transmission of the data from the inspection device (1) to a central processing unit.
    [16]
    16. - Robotized system for the inspection of electric generators according to any of the preceding claims, characterized in that the inspection device (1) comprises a coupling device (15) that allows fixing the different modules of the inspection subsystem. , among those who are at least, a
    5 module for magnetization tests, a module for crib tightening tests, a module for detecting imperfections in the core, a visual inspection module and a sampling module.
    [17]
    17. - Robotized system for the inspection of electric generators according to revindication
    10 16 characterized in that the coupling device (15) comprises a mechanism
    elevator (17) that moves the modules of the inspection tests from an insertion position in the generator to an inspection position.
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    同族专利:
    公开号 | 公开日
    ES2589513B1|2017-08-25|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US5650579A|1995-12-05|1997-07-22|General Electric Company|Miniature air gap inspection crawler|
    JP2002209363A|2001-01-12|2002-07-26|Hitachi Ltd|Inspection robot for rotating electric machine|
    EP1772949A1|2005-10-10|2007-04-11|General Electric Company|Ultrasonic miniature air gap inspection crawler|
    US20110175641A1|2010-01-19|2011-07-21|Markus Wiesendanger|Inspection vehicle for inspecting an air gap between the rotor and the stator of a generator|ES2713966A1|2017-11-23|2019-05-24|Iberdrola Generacion Sau|ROBOTIC DEVICE FOR THE INSPECTION OF GENERATORS ELECTRICAL |
    法律状态:
    2017-08-25| FG2A| Definitive protection|Ref document number: 2589513 Country of ref document: ES Kind code of ref document: B1 Effective date: 20170825 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201530638A|ES2589513B1|2015-05-11|2015-05-11|Robotized system for the inspection of electric generators|ES201530638A| ES2589513B1|2015-05-11|2015-05-11|Robotized system for the inspection of electric generators|
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