法国专利FR3076625A1 Inspection device and inspection method

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专利摘要:
According to one embodiment, an inspection device comprises a movable body which comprises: a movable main body which moves in contact with a first structure; arms attached to the movable main body; an arm drive device for driving the arms; and a detector attached to the movable main body or the arms for inspecting the second structure. The arms can each selectively take a pressed position and a separate position. When the movable body is moved, at least one of the arms is in the pressed position and pressed to the second structure and the movable body is supported by the first and second structures. Figure to be published with the abstract: FIG. 1
公开号:FR3076625A1
申请号:FR1873336
申请日:2018-12-19
公开日:2019-07-12
发明作者:Manabu Watanabe；Akihiro Matsuzaki；Fumio Sato；Fujio Terai；Hitoshi Katayama；Yuichiro Gunji
申请人:Toshiba Corp；Toshiba Energy Systems and Solutions Corp；
IPC主号:

专利说明:

Description
Title of the invention: Inspection device and inspection method [0001] The present embodiments relate to an inspection device comprising a movable body which can be moved along an object to be inspected and to a method using the inspection device.
A rotating electrical machine such as an electric power generator requires maintenance including the inspection of electrical and mechanical safety using inspection devices. In such an inspection, the inspection device must be able to access the external surface of the rotor or the internal surface of the stator. Conventionally, the rotor is removed from the stator for inspection, since the gap between the rotor and the stator is narrow when the rotor is inserted into the stator. However, extracting the rotor from the stator requires a lot of work and time.
At the same time, an inspection technology is developed in which an inspection device is moved in the narrow annular gap between the rotor and the stator while the rotor remains inserted in the stator.
For this purpose, an inspection device is created comprising: a movable main body to be inserted in a gap between a first structure and a second structure facing outside of the first structure; a displacement driving device intended to drive the movable body on and along the first structure; at least two arms fixed on the movable main body; an arm driving device for driving the arms so that the arms each selectively assume a pressed position in which the arm extends towards the second structure to be pressed on the second structure, and a separate position in which the arm is separated from the second structure; and at least one detector attached to at least one of the movable main body and the arms, for inspecting at least one of the first and second structures, in which the arm drive device is configured to drive at least one of the at least two arms to be held in the pressed position when the movable main body is moved.
Preferably, the arm drive device comprises a spring in order to apply at least one of the at least two arms in a first direction from the pressed position.
Preferably, the at least one arm which is applied by the spring is in the pressed position while the movable main body is moving in a predefined direction along the first structure, and is configured so as to modify its shape. in a second direction opposite to the first direction so that the at least one arm can avoid interference with the second structure depending on the shape of the second structure.
The inspection device may further comprise: a roller fixed on the end of at least one of the at least two arms, the roller being configured so as to rotate while being pressed towards the second structure as the movable main body moves along the first structure.
The inspection device may further comprise: a movable body position detection unit for detecting movable body position information indicating the position of the movable main body, in which the drive device arm is configured to train the arms based on shape information indicating the shapes and sizes of the first structure and the second structure, and position information indicating the position of the movable main body detected by the detection unit moving body position.
Preferably, the movable body position detection unit comprises a displacement distance measuring device intended to measure the displacement distance of the movable body; and the moving body position detecting unit is configured to calculate the moving body position information based on the shape information, the history of the moving body position information and the movement distance of the moving body measured by the displacement distance measuring device.
The inspection device may also comprise a distance measuring device intended to measure a distance relative to the second structure, the distance measuring device being installed on the movable main body, in which the device arm drive is configured to drive the arms, at least partially based on the distance between the distance measuring device and the second structure measured by the distance measuring device.
The inspection device may also comprise a camera in order to obtain an image comprising the image of the second structure, the camera being installed on the movable main body, in which the device arm training is configured to train the arms, at least partially on the basis of the image obtained by the camera.
The inspection device can, moreover, include the fact that at least one of the at least one detector is fixed on one end of at least one of the at least two arms.
The inspection device can, moreover, understand the fact that the first structure is a main rotor body of a rotary electric machine and the second structure is a stator disposed outside the rotor through a gap annular.
The inspection device can further include the fact that the at least two arms have at least three arms, and the arm drive device is configured so as to drive the at least three arms so that that at least two of the at least three arms are in the pressed positions when the movable main body is disposed in the gap.
The present invention further relates to an inspection method comprising: a displacement step intended to move a main body along a first structure, while the main body is disposed in a gap between the first structure and a second structure facing outside of the first structure; an arm driving step intended to train arms so that the at least two arms each selectively assume a pressed position in which the arm extends towards the second structure so as to be pressed towards the second structure, and a separate position in which the arm is separated from the second structure; and an inspection step consisting in inspecting at least one of the first and second structures, with at least one detector fixed on at least one of the movable main body and of the arms, in which the driving step is carried out while at least one of the at least two arms is held in the pressed position.
Figure 1 is a schematic view showing the general structure of an inspection device according to a first embodiment of the invention.
Figure 2 is a schematic plan view of a movable body shown in Figure 1. Figure 3 is a block diagram showing a functional structure of a control console shown in Figure 1.
Figure 4 is a schematic view showing a situation in which the movable body and a base unit are placed when the inspection device of Figure 1 is applied to the inspection of a rotary electric machine.
Figure 5 is a plan view along the arrows V-V in Figure 4.
Figure 6 is a plan view showing a situation in which the movable body and the base unit of Figure 4 are coupled.
FIG. 7 is an algorithm showing a sequence of an inspection method using the inspection device according to the first embodiment.
Figure 8 is an explanatory view showing arm movements while the movable body of Figure 1 is moving axially on an outer surface of a main rotor body.
FIG. 9 is an explanatory view showing movements of the arms in which the mobile body of FIG. 1 is driven axially when the supply of electrical energy or of air pressure has been lost during an axial movement of the movable body on the outer surface of the main rotor body.
[fig.l] Figure 10 is a schematic view showing the general structure of an inspection device according to a second embodiment of the invention.
An objective of the embodiments is to create an inspection device and an inspection method in which a movable body is moved and the inspection of the object to be inspected is carried out effectively with reduced work.
According to one aspect of the present invention, an inspection device is created comprising: a movable main body to be inserted in a gap between a first structure and a second structure facing outside of the first structure; a displacement driving device intended to drive the movable body on and along the first structure; at least two arms fixed on the movable main body; an arm driving device for driving the arms so that the arms each selectively assume a pressed position in which the arm extends towards the second structure to be pressed on the second structure, and a separate position in which the arm is separated from the second structure; and at least one detector attached to at least one of the movable main body and the arms, for inspecting at least one of the first and second structures, in which the arm drive device is configured to drive at least one of the at least two arms to be held in the pressed position when the movable main body is moved.
According to another aspect of the present invention, an inspection method is created comprising: a displacement step intended to move a main body along a first structure, while the main body is placed in a gap between the first structure and a second structure facing outside of the first structure; an arm driving step intended to train arms so that the at least two arms each selectively assume a pressed position in which the arm extends towards the second structure so as to be pressed towards the second structure, and a separate position in which the arm is separated from the second structure; and an inspection step consisting in inspecting at least one of the first and second structures, with at least one detector fixed on at least one of the movable main body and of the arms, in which the driving step is carried out while at least one of the at least two arms is held in the pressed position.
Embodiments of the invention will now be described with reference to the drawings. Identical components or similar components are given common reference numbers and repetitive explanations are omitted.
A first embodiment will now be described.
Figure 1 is a schematic view showing the general structure of an inspection device according to a first embodiment of the invention. Figure 2 is a schematic plan view of a movable body shown in Figure 1. Figure 3 is a block diagram showing a functional structure of a control console shown in Figure 1. Figure 4 is a schematic view showing a situation in which the movable body and a base unit are placed when the inspection device of Figure 1 is applied to the inspection of a rotary electrical machine. Figure 5 is a plan view along the arrows V-V in Figure 4. Figure 6 is a plan view showing a situation in which the movable body and the base unit of Figure 4 are coupled.
The inspection device according to the first embodiment comprises: a movable body 10, a base unit 11, a control console 12, a cable 35 connecting the movable body 10 and the base unit 11, and a cable 36 connecting the base unit 11 and the control console 12. The movable body 10 can move in an axial direction on the external surface of the main rotor body 109 in an annular gap 103. The gap 103 is formed between a main rotor body (first structure) 109 of a rotor 101 of a rotary electric machine 100 and a stator (second structure) 102 which is arranged on the external side of the main rotor body 109 facing the main rotor body 109. Cables 35 and 36 can be connected to relays or can be formed by a continuous cable. In the following explanations, in principle, the stator 102, which is the second structure, is the object to be inspected. However, the main rotor body 109 which is the first structure may be the object to be inspected. The object to be inspected can be one or the other or both of the stator 102 which is the second structure and / or the main rotor body 109 which is the first structure.
The expression "plan view" is used here only for reasons of ease of explanation. The structure and operation do not depend on the direction of gravity. For example, in Figure 1, the main rotor body 109 is shown as disposed below the movable body 10, while the stator 102 is disposed above the movable body 10. However, in practice, such situation cannot always be preserved.
The rotary electrical machine 100 may, for example, be a generator of electrical energy cooled with hydrogen. As shown in Figure 4, the rotor 101 includes: a rotor shaft 104; a main rotor body 109 which is formed in a unit coaxially with the rotor shaft 104 and has rotor windings; and circular end rings 105 which are disposed on axially outer sides of the main rotor body 109 interposing the main rotor body 109. The rotor shaft 104 constitutes axially outer sides of the main rotor body 109 on the rotor 101. The rotor shaft 104 comprises bearings 106 intended to support the rotor 101 as a whole, and a flange intended to be coupled to an external machine such as a turbine. The external diameter of the main rotor body 109 is greater than the external diameter of the rotor shaft 104. The main rotor body 109 comprises: a rotor core, rotor windings (not shown) arranged in a plurality of slots s 'extending axially, formed along the outer peripheral surface of the rotor core; and shims (not shown) to hold the rotor windings in the slots. In many cases, the main rotor body 109, except for the rotor shims and windings, and the rotor shaft 104 of the rotor 101 are formed in one unit, for example by forging.
The stator 102 has a hollow circular cylindrical shape and is arranged so as to radially surround the outside of the main rotor body 109. Although a detailed representation is omitted, the stator 103 comprises: a stator core formed with a plurality of electromagnetic steel plates stacked in the axial direction; stator windings disposed in a plurality of axially extending slots formed along the inner surface of the stator core; and shims to hold the stator windings in the slots.
A frame 107 is arranged to support and cover the stator 102. The bearings 106 are supported by the frame 107. A closed gap is formed on the frame 107 and the closed gap is filled with a cooling fluid. such as hydrogen gas. A fan 108, with which the coolant in the chassis 107 is forced into circulation, is fixed to the rotor shaft 104 in the chassis 107.
Annular baffles 111 are arranged so as to extend along the internal periphery of the stator 102. The baffles 102 extend radially inwards into the gap 103 from the side of the stator 102, and divide the annular gap 103 into a plurality of annular sections aligned in the axial direction, so that the axial flow of the coolant in the gap 103 is suppressed. However, the ends of the baffles do not touch the external surface of the main rotor body 109, and the movable body 10 can pass axially in the gap between the ends of the baffles 111 (the internal peripheral surfaces of the baffles 111 facing the rotor 101 ) and the outer peripheral surface of the main rotor body 109.
The base unit 11 is fixed on the outer peripheral surface of one of the end rings 105. The base unit 11 can move (rotate) circumferentially on the outer peripheral surface of the ring end 105. The movable body 10 can move axially so that it can be fixed on the base unit 11 and separated from the latter. When the movable body 10 is fixed to the base unit 11 as shown in Figure 6, the movable body 10 can move (rotate) along the end ring 105 in a peripheral direction.
As shown in Figures 1 and 2, the movable body 10 includes a movable main body 30 and mounted objects 25, mounted on the movable main body 30. The movable body 10 can, for example, be a vehicle .
The movable body 10 can move at least in the direction of the axis of the rotary electric machine 100. Tracks 31 are fixed to the movable main body (vehicle body) 30. The tracks 31 are means of displacement of the movable body 10, applied to and in contact with the outer peripheral surface of the main rotor body 109, which is the first structure. The tracks 31 are driven by their wheels which are driven by a movement drive device 17. Thus, the movable body 10 can be driven forward, backward and be stopped. The rotational speeds of the right and left tracks 31 can be adjusted independently by the movement drive device 17, so that the direction of movement forwards and backwards of the movable body 10 can be adjusted. Alternatively, displacement means such as wheels can be used rather than tracks 21 or drive belts.
The mounted objects 25 are mounted on the movable main body 30. The mounted objects 25 comprise a first arm 14, a second arm 15, a third arm 16, the movement drive device 17, a drive device arm 18, a transceiver 19, a camera 20, a distance measurement device 21, a displacement distance measurement device 22, lighting equipment 23 and a detector 26.
The first, second and third arms 14, 15, 16 are respectively articulated around axes 14a, 15a and 16a relative to the movable main body 30. The arm drive device 18 drives the first, second and third arms 14, 15, 16 and modifies the shapes as well as the positions of the arms relative to the movable main body 30. The first, second and third arms 14, 15, 16 are driven by the arm drive device 18 and can each take a pressed position and a separate position. In the pressed positions, the arms extend from the movable main body 30 towards the internal peripheral surface of the stator 102. In the separated positions, the arms are folded towards the movable main body 30 and separated from the stator 102.
The arm drive device 18 comprises a first spring 14b, a second spring 15b and a third spring 16b which respectively applies the first, second and third arms 14, 15, 16, in the direction of the pressed positions or positions separated. The arm drive device 18 further comprises electric motors or compressed air drive mechanisms (not shown) in order to drive the first, second and third arms 14, 15, 16 each towards the pressed position or the separate position against the application force (return force) of the first, second and third springs 14b, 15b and 16b. The arm drive 18 can drive the first, second and third arms 14, 15, 16 each to any of the pressed position and the separated position.
The first spring 14b and the third spring 16b respectively apply the first arm 14 and the third arm 16 to their pressed positions. The second spring 15b applies the second arm 15 to its separate position. Consequently, if a source of electrical energy or air pressure is lost due to an accident or a failure, the first arm 14 and the third arm 16 each assume their pressed positions respectively under the action of the first spring 14b and the third spring 16b and the second arm 15 takes its separate position under the action of the second spring 15b.
The first, second and third rollers 14c, 15c, 16c are fixed respectively on the ends of the first, second and third arms 14, 15, 16. When the movable body 10 moves while the first, second and third arms 14, 15, 16 are in their pressed positions, the first, second and third rollers 14c, 15c, 16c rotate while they are pressed against the internal surface of the stator 102, so that the movable body 10 can move in sweetness.
The first, second and third arms 14, 15, 16 are inclined in the same direction (for example, towards the upper left side of Figure 1) relative to the axial direction. The inclination direction is defined so that the positions of the arms can be easily changed when the movable main body 30 is driven in the axial direction with the cable 35. The detailed operation will be explained later with reference to Figure 9 .
The distance measuring device 21 measures the distance relative to the stator 102. The displacement distance measuring device 22 measures the displacement distance of the movable body 10 by measuring, for example, the movements of the tracks 31. The camera 20 obtains, for example, image information from stator 102. The lighting equipment 23 illuminates the vision area of camera 23 in order to obtain a clear image.
The detector 26 detects the main rotor body 109 which is the first structure and / or the stator 102 which is the second structure. The detector 26 may include an ultrasonic fault detector and / or a camera.
Inspection of the main rotor body 109 may include the ultrasonic fault detection of teeth (not shown) each being formed between the slots containing the rotor windings or shims arranged on the outer side in the slots, using an ultrasonic fault detector, and / or visual inspection of radial through holes (not shown), using a camera.
The inspection of the stator 102 may include the inspection of the release of the shim in which the release of the shim (not shown) is inspected by detecting the sound after hammering of the shim arranged on the external side of the stator windings. Alternatively, the inspection of the stator 102 may include an EL-CID (electromagnetic core imperfection detection) test of the stator core in which a fault current is detected in the event of a short circuit on the stator core in producing a magnetic flux in the stator core.
The detector 26 may not be fixed directly on the movable main body 30, but may be fixed on the arms 14, 15, 16 described above, in particular, in an inspection case, for example, of the stator 102 Alternatively, an additional specific arm can be attached to the movable main body 30 and the detector can be attached to the additional specific arm in order to inspect the main rotor body 109 and the stator 102. More specifically, the detector 26 intended to inspect the stator 102, such as the detector 26 intended to ensure the inspection of release of the stator block and the EL-CID tests of the stator core, is preferably fixed on the arms 14, 15, 16 described previously.
The detector 26 installed on the movable body 30 may include all of the ultrasonic fault detection devices for the teeth or the shims of the main rotor body 109, the camera to ensure visual inspection of the orifices ventilation in the radial direction of the main rotor body 109, the hammer intended to inspect the loosening of the shims of the stator core and the device intended to ensure the EL-CID tests. As a variant, some of the detectors described above can be installed on the mobile main body 30. More specifically, when the various inspection or test devices are installed on the mobile main body 30 such as detectors 26, inspections and tests can be conducted automatically.
The displacement drive device 17, the arm drive device 18, the camera 20, the distance measuring device 21, the displacement distance measuring device 22 and the detector 26 are controlled and activated by the control console 12, and the data obtained are processed by the control console 12. The information signals are exchanged via cables 35, 36. All or some of the information signals can be exchanged remotely via the transceiver 19. As a variant, at least part of the control console 12 comprising, for example, the arm drive control unit 62 (described in detail later ) can be installed on the movable main body 30 so that the movable body 10 can be controlled and activated independently. In addition, the control console 12 as a whole can be installed on the movable main body 30.
The control console 12 includes an input unit 40, a calculation control unit 41, a storage device 42, a display device 43 and a transceiver 44, as shown in the figure 3. The control console 12 can be a multi-use computer such as a personal computer.
The input unit 40 includes a form information input unit 50, an inspection position information input unit 51, a component information input unit d inspection 52, a tolerance range information input unit 53 and an inspection start instruction input unit 54.
The shape information input unit 50 is used to enter shape information of the shapes of the stator 102 which is the object to be inspected and the second structure, and of the main rotor body 109 which is the first structure for supporting the movable body 10. The shape information is based on design information or actually measured information from the rotary electrical machine 100. When the shape information is obtained by actual measurement, the data is obtained using , for example, the camera 20 and the distance measuring device 21 while the movable body 10 is manually driven and the shape information is obtained from the obtained data.
The inspection position information input unit 51 is used to enter inspection position information with respect to the shape information. The inspection item information input unit 52 is used to enter the inspection items with respect to the inspection position information. The inspection item information may include information of the area to be inspected. The tolerance range information input unit 53 is used to enter tolerance range information which forms the basis for decision whether the inspection result is acceptable or not.
The start inspection instruction input unit 54 is used to enter the start inspection instruction.
The calculation control unit 41 includes a displacement control unit 61, an arm drive device control unit 62, an inspection control unit 63, a body position calculation unit mobile (a mobile body position detection unit) 64, an image recognition position calculating unit 65 and a decision unit 66.
The displacement control unit 61 controls the displacement drive device 17 installed on the movable main body 30 so that the movement of the movable body 10 is controlled. The arm drive device control unit 62 controls the arm drive device 18 installed on the movable main body 30 and thus the movement or activation of the arms 14, 15, 16. The arm drive unit inspection command 63 controls the detector 26, etc.
The moving body position calculating unit 64 calculates the current position of the moving body 10 on the basis of the historical recording of the moving body position information, shape information and the distance of movement (traveled ) obtained by the displacement distance measuring device 22 installed on the movable main body 30, etc. The image recognition position calculating unit 65 calculates the current position of the movable body 10 on the basis of the historical recording of the moving body position information, of the shape information and of the image obtained by the camera 20 installed on the moving body 30. In the calculation of the current position of the moving body 10, the result of the unit of moving body position calculation 64 and the result of the image recognition position calculating unit 65 can be combined so as to obtain higher accuracy.
The decision unit 66 determines whether the inspection result is acceptable or not based on the tolerance range information.
The storage device 42 includes a shape information storage unit 71, an inspection position information storage unit 72, an inspection item information storage unit 73, a moving body position information storage unit 74, inspection result information storage unit 75, image information storage unit 76 and tolerance range information storage unit 77.
The shape information storage unit 71 stores the shape information entered with the shape information input unit 50. The inspection position information storage unit 72 stores the inspection position information with the inspection position information input unit 51. The inspection item information storage unit 73 stores the inspection item information with the inspection element information input unit 52. The moving body position information storage unit 74 stores the moving body position information calculated by the moving body position calculating unit 64 The inspection result information storage unit 75 stores the inspection results of the detector 26 etc., and also stores the results of the decision by the decision unit 66. The storage storage unit image information 76 stores the image obtained by the camera 20, etc. The tolerance range information storage unit 77 stores the tolerance range information entered with the tolerance range information input unit 53.
The display device 43 includes a decision result display screen 80. The decision result display screen 80 displays the decision result of the decision unit 66. The display device 43 may include a display unit intended to display the position of the mobile body 10 calculated by the mobile body position calculation unit 64 and / or the current or present image taken by the camera 20, etc., in addition of the decision result display screen 80.
The transceiver 44 of the control console 12 exchanges signals with the transceiver 19 which is contained in the mounted objects 25. The exchange signal can be transmitted via cables 35 and 36, or, alternatively, by radio frequency.
Figure 7 is an algorithm showing a sequence of an inspection process using the inspection device according to the first embodiment. First, the shape information, inspection position information, inspection item information, and tolerance range information are entered with the shape information input unit 50, the unit of inspection position information 51, the inspection item information input unit 52 and the tolerance range information input unit 53, and they are stored respectively in the shape information storage unit 71, the inspection position information storage unit 72 and the inspection item information storage unit 73, (step S10). Then, the operator enters the start inspection instruction in the start inspection instruction input unit 54 (step SU). After that, the inspection device conducts the inspection automatically. In the present embodiment, the extent of the object to be inspected is, for example, the entire circumferential surface of the stator 102.
When the inspection start instruction is entered in step SI 1, the inspection start position is automatically defined on the basis of the inspection element information stored in the unit. storing inspection element information 73, and the base unit 11 moves to the peripheral position (peripheral inspection start position) of the slot corresponding to the inspection start position (step S12) . The start of inspection position can be set automatically. Alternatively, the inspection start position may be contained in the inspection item information entered with the inspection item information input unit 52, or may be entered beforehand when the inspection start instruction is entered in step SI 1. When the base unit 11 is moved to the peripheral start inspection position, the movable body 10 and the base unit 11 are separated (step S13 ). Next, the movable body 10 moves axially away from the end ring 105 which has been coupled to the movable body 10 via the base unit 11.
Then, the movable body 10 moves axially to the inspection position by controlling the movement control unit 61 and the arm drive device control unit 62 (step S14). After the movable body 10 has reached the inspection position, the inspection is conducted by the control of the inspection control unit 63 (step S15). Then, the decision unit 66 determines the inspection results (step S16). The decision result is displayed on the decision result display screen 80 and stored in the inspection result information storage unit 75 (step S17).
Then, it is determined whether the movable body 10 has reached the base unit 11 (step S18). If the movable body 10 has not reached the base unit 11 (in a case NOT in step S18), the procedure returns to step S14. If the movable body 10 has reached the base unit 11 (in a case YES in step S18), the movable body 10 and the base unit 11 are connected (step S19).
Then in step S19, it is determined whether the base unit 11 has moved entirely around the end ring 105 (or whether the entire stipulated area for inspection has been inspected in a case in which the area to be inspected is stipulated beforehand in the inspection element information entered with the inspection element information input unit 52) (step S20). If the base unit 11 has moved entirely around the end ring 105 (or if the entire stipulated area to be inspected has been inspected in a case where the area to be inspected is stipulated beforehand in the information inspection element input with the inspection element information input unit 52) (in a case YES in step S20), the operation is completed. If the base unit 11 has not yet moved entirely around the end ring 105 (or if the entire stipulated area to be inspected has not yet been inspected in a case where the area to be inspected is stipulated beforehand in the inspection item information entered with the inspection item information input unit 52) (in a case NO in step S20), the base unit 11 is moved with the movable body 10 over a distance stipulated in the peripheral direction on the end ring 105 (step S21). Then, the method returns to step S13 and the movable body 10 is separated from the base unit 11. Then, the inspection procedure from step S14 is continued at a different peripheral position separated from the previous one peripheral position.
As described above, the inspection device conducts an inspection procedure automatically after the input of the start of inspection signal (step SU).
In the example shown in Figure 7, the entire surface of the stator 102 is stipulated beforehand as the area to be inspected or the area to be inspected is contained in the inspection element information entered beforehand with the inspection element information input unit 52. Alternatively, when the start inspection instruction is entered in step S1 1 of Figure 7, the area to be inspected can be stipulated in the prior, and in step S20, it is determined whether the entire stipulated area for inspection has been inspected or not.
In a case in which the base unit 11 is fixed only on one of the two end rings 105 arranged at the two axial ends of the main rotor body 109 as shown in FIG. 4, the body mobile 10 moves back on the same axial path towards the same base unit 11. As a variant, the base unit 11 can be fixed to each of the two end rings 105, although such a situation is not shown. In such a situation, the movable body 10 can be coupled with the two central units alternately, and the movable body 10 can move in both axial directions alternately and the inspection is continued without moving repeatedly on the same axial path. Thus, the inspection can be conducted more efficiently.
Next, the operation of the arms of the inspection device according to the first embodiment is described in detail below.
Figure 8 is an explanatory view showing arm movements while the movable body 10 of Figure 1 moves axially on an outer surface of the main rotor body 109. In Figure 8, the movable body 10 moves in an axial direction (transverse direction in FIG. 8) along the main rotor body (first structure) 109 in the annular gap 103 between the internal peripheral surface of the stator (the object to be inspected; the second structure) 102 and the outer peripheral surface of the main rotor body 109. In the example shown, the mobile body 10 moves to the left (along an arrow A) as shown in (a), (b), (c), ( d) and (e) according to this order in FIG. 8. The annular circular baffle III formed on the internal surface of the stator 102 extends towards the main rotor body 109.
At the bearing (a) of Figure 8, the first, second and third arms 14, 15, 16 are all in the pressed positions. The ends of the first, second and third arms 14, 15, 16 press the internal peripheral surface of the stator 102, and the internal peripheral surface of the stator 102 presses the ends of the first, second and third arms 14, 15, 16 in reaction. Thus, the tracks 31 of the movable body 10 are pressed on the external peripheral surface of the main rotor body 109, and the external peripheral surface of the main rotor body 109 presses the tracks 31 in reaction. Thus, the movable body 10 is supported by the stator 102 and the main rotor body 109.
In bearing (b) of Figure 8, the second and third arms 15, 16 are in the pressed positions, while the first arm 14 is in the separated position. Thus, interference between the first arm 14 and the cabinet III can be avoided.
At the bearing (c) of Figure 8, the first and third arms 14, 16 are in the pressed positions, while the second arm 15 is in the separated position. Thus, interference between the second arm 15 and the cabinet III can be avoided.
At the bearing (d) of Figure 8, the first, second and third arms 14, 15, 16 are all in the pressed positions.
At the bearing (e) of Figure 8, the first and second arms 14, 15 are in the pressed positions, while the third arm 16 is in the separated position. Thus, interference between the third arm 16 and the cabinet III can be avoided.
With the sequential operation described above, the movable body 10 can exceed the internal side of the cabinet III without interference between the first, second and third arms 14, 15, 16 and the cabinet III. Simultaneously, the movable body 10 is supported by the stator 102 and the main rotor body 109, since at least two of the three arms 14, 15, 16 are in the pressed positions.
Next, a situation in which the source of electrical energy or air pressure is lost due to an accident or failure while the movable body 10 is moving axially on the main rotor body 109 is explained. In such a situation, the first arm 14 and the third arm 16 come into the pressed positions under the effect of the biasing forces of the first spring 14b and the third spring 16b, while the second arm 15 comes into the separated position under the effect of the return force of the second spring 15b. Even in such a situation, the two arms are in the pressed position, and the movable body 10 remains supported by the stator 102 and the main rotor body 109.
In such a situation, if the movable body 10 cannot move by itself, the movable body 10 can be extracted from the gap (annular space) 103 by withdrawing the cable 35 axially towards the unit. base 11.
Figure 9 is an explanatory view showing arm movements in which the movable body 10 of Figure 1 is driven axially when the supply of electrical energy or air pressure has been lost during an axial movement of the movable body 10 on the external surface of the main rotor body 109. In the example shown, the movable body 10 is pulled and moves to the right (according to an arrow B) as shown in (a) , (b), (c) and (d) in this order in Figure 9.
Figure 9 (b) shows a situation in which the third arm 16 exceeds the cabinet 111. In this situation, the third arm 16 is in the pressed position under the effect of the return force of the third spring 16b . However, when the roller 16c fixed on the end of the third arm 16 touches the baffle 111, the shape or position of the third arm 16 is modified against the return force of the third spring 16b, and the third arm 16 can exceed the baffle 111.
Figure 9 (c) shows a situation in which the third arm 16 adjusts beyond the cabinet 111. Since the third arm 16 has exceeded the cabinet 111, the third arm 16 extends to the position pressed under the effect of the return force of the third spring 16b.
Figure 9 (d) shows a situation in which the first arm 14 exceeds the cabinet 111. In this situation, the first arm 14 is in the pressed position under the effect of the return force of the first spring 14b . However, when the roller 14c fixed on the end of the first arm 14 touches the baffle 111, the shape or position of the first arm 14 is modified against the return force of the first spring 14b, and the first arm 14 can exceed the baffle 111.
As should be understood from the preceding description, it is important that the first arm 14 and the third arm 16 are inclined in the same direction. Thus, the shapes of the first arm 14 and of the third arm 16 can be modified when the movable main body 30 is moved in the axial direction by pulling the cable 35.
In the example explained above, the movable body 10 is moved by pulling the cable 35. As a variant, the movable body 10 can be moved by pulling a specific pull cord or a pull bar (not shown) which are separate from the cable 35.
As described above, according to the inspection device of this embodiment, the required information is entered via the inspection position information input unit 51, from the the inspection element information input unit 52 and the tolerance range information input unit 53 and the inspection start instruction is entered through the unit start inspection instruction input 54. Then the movable body 10 automatically moves to the inspection position, the required inspection is carried out automatically and it is determined automatically whether the results of inspection are acceptable or not. Thus, a reliable and rapid inspection can be carried out in a reduced time and with less work.
In the example explained above, the arm drive device control unit 62 of the control console 12 controls the arm drive device 18 installed on the movable main body 30 so that at least two of the three arms are always in the pressed position and remain applied against the stator 102. As a variant, only two arms can be provided and at least one of the two arms remains always applied against the stator 102. Such a case can be achieved by omitting the second arm 15 in the first embodiment described above.
In such a case, the arm drive device 18 installed on the movable main body 30 is controlled by the arm drive device control unit 62 of the control console 12 so that at least one of the two arms remains in the pressed position. Thus, the mobile body 10 is supported by the reaction force of the at least one arm in the pressed position which pushes the stator 102 or the second structure, and by a reaction force of the mobile body 10 pushing the first structure or the body main rotor 109, in the gap between the main rotor body 109 and the stator 102.
A second embodiment will now be described. Figure 10 is a schematic view showing the general structure of an inspection device according to a second embodiment of the invention. The second embodiment is a variant of the first embodiment and a detector (second detector) 90 in place of the roller is fixed on the end of the second arm 15. In this case, the end of the second arm 15 may have a support function for the movable body 10 by pressing the stator 102, or may not have such a support function. In the case where the end of the second arm 15 is pressed on the stator 102 in order to support the movable body 10, a roller is preferably fixed on the end of the second arm 15 in addition to the detector 90. In FIG. 10 , the second arm 15 is inclined towards the same direction as the first and third arms 14, 16 relative to the direction of the axis of the main rotor body 109. As a variant, the second arm 15 can be inclined towards the opposite direction to the direction of inclination of the first and third arms 14, 16.
The detector 90 is preferably intended for the inspection of the stator 102. The detector (the second detector) 90 may comprise one or the other of the sets of inspection device or both in order to ensure the inspection of the release of the shims (not shown) arranged on the external peripheral side of the stator windings, and an EL-CID test device in order to test a stator core. The sets of inspection devices intended for the inspection of the release of the holds may include a hammer and an acceleration sensor or an acoustic detector. The release of the shims can be inspected by hitting the shims with the hammer and detecting sound with the acceleration sensor or the acoustic detector. The EL-CID test device can include a magnetic flux forming coil and a fault current detector. The detector 90 can be fixed on the end of the second arm 15.
The detector (the first detector) 26 is fixed to the movable main body 30 of the movable body 10 of the inspection device of the second embodiment in a manner similar to that of the first embodiment. The detector (the first detector) 26 is preferable for inspecting the main rotor body 109. An ultrasonic flaw detector for inspecting the detection of ultrasonic flaw detection between slots in the main rotor body 109, and a camera for visual inspection of the radial ventilation holes (not shown) can be installed on the movable main body 30.
The first arm 14 and the third arm 16 are, in this embodiment, arranged so that they are inclined in the same direction relative to the axial direction of the main rotor body 109, in a manner similar to the first embodiment. The first and third rollers 14c, 16c are respectively fixed on the ends of the first and third arms 14, 16. The first spring 14 and the third spring 16b apply the first arm 14 and the third arm 16 respectively to the internal peripheral surface of the stator 102 to the pressed state. Thus, when the movable body 10 moves with the first and third arms 14, 16 in the pressed positions, the first and third rollers 14c, 16c are pressed towards the internal peripheral surface of the stator 102 and rotate. Thus, if the source of electrical energy or the air pressure is lost, the first arm 14 and the third arm 16 come into the pressed position under the effect of the first spring 14b and the third spring 16c, and the movable body 10 is supported here. In particular, in the present embodiment, the first arm 14 and the third arm 16 which are arranged on the two ends of the plurality of arms fixed on the movable main body 30 come into the pressed position, when the energy source electric or the air pressure is lost. Thus, the movable body 10 is firmly supported even in the case of a supply fault or loss of air pressure.
The second spring 15b applies the second arm 15 to the separate position. The detector 90 is fixed to the end of the second arm 15. Thus, if the electrical supply or the air pressure is lost due to an accident or a fault, the second arm 15 assumes the position pressed under the effect of the second spring 15b, and is separated from the internal surface of the stator 102. Then, the detector (the second detector) fixed to the end of the second arm 15 can be contained in the movable main body 30.
In the present embodiment, when the power supply or the air pressure intended to drive the arms is lost during the axial movement of the movable body 10 on the external peripheral surface of the main rotor body 109, and when the movable body 10 is withdrawn, the first arm 14 and the third arm 16 assume the pressed positions under the effect of the first spring 14b and the third spring 16b, while the second arm 15, on which the detector (the second detector ) 90 is fixed, takes the separate position under the effect of the second spring 15b, as in the first embodiment. Since the first arm 14 and the third arm 16 are inclined in the same direction relative to the axial direction of the main rotor body 109, the movable main body 30 can be pulled in order to move axially with the shape modifications of the first arm 14 and the third arm 16, as in the first embodiment. In such a situation, the second arm 15 separates from the internal surface of the stator 102 under the effect of the second spring 15b, and the detector (the second detector) 90 fixed on the end of the second arm 15 is contained in the body. main mobile 30, so that the mobile body 10 can move without causing any failure or damage to the detector (the second detector) 90 fixed to the end of the second arm 15 which could otherwise strike the stator 102.
Other embodiments are possible.
In the preceding explanations, the object to be inspected is the second structure, that is to say the stator 102, and the movable body 10 moves along the external surface of the first structure, that is to say the main body of rotor 109. As a variant, the object to be inspected can be the first structure, that is to say the main body of rotor 109 and the movable body 10 can move along the internal surface of the second structure. that is to say the stator 102. In addition, the object to be inspected may not be a rotating electrical machine.
As a variant of the examples explained above, the mounted objects 25 to be mounted on the movable main body 30 may include a control unit (not shown), and part of the functions of the control console 12 can be integrated into the control unit, in the movable main body 30. The size and the weight of the movable body 10 of such a structure can be increased. However, the traffic of signals exchanged via the cables 35, 36 can be reduced and the speed of the control can be increased.
[0093] Although certain embodiments have been described, these embodiments have been presented only by way of example, and are not intended to limit the scope of the invention. Obviously, the new embodiments described here can be implemented in a variety of other forms; further, various omissions, substitutions and modifications to the form of the embodiments described herein can be made without departing from the spirit of the invention. The invention described above and its equivalents are intended to cover such forms or variants which could fall within the scope.

权利要求:
Claims (1)
[1" id="c-fr-0001]
Claims [Claim 1] An inspection device comprising: a movable main body to be inserted in a gap between a first structure and a second structure facing the outside of the first structure; a displacement driving device intended to drive the movable body on and along the first structure; at least two arms fixed on the movable main body; an arm driving device for driving the arms so that the arms each selectively assume a pressed position in which the arm extends towards the second structure to be pressed on the second structure, and a separate position in which the arm is separated from the second structure; and at least one detector attached to at least one of the movable main body and the arms, for inspecting at least one of the first and second structures, in which the arm drive device is configured to drive at least one of the at least two arms to be held in the pressed position when the movable main body is moved. [Claim 2] An inspection device according to claim 1, wherein the arm drive device includes a spring to apply at least one of the at least two arms in a first direction from the pressed position. [Claim 3] Inspection device according to claim 2, in which the at least one arm which is applied by the spring is in the pressed position while the movable main body is moving in a predefined direction along the first structure, and is configured to modify its shape in a second direction opposite to the first direction so that the at least one arm can avoid interference with the second structure depending on the shape of the second structure. [Claim 4] Inspection device according to any one of claims 1 to 3, further comprising: a roller fixed on the end of at least one of the at least two arms, the roller being configured so to be rotated by being pressed towards the second structure while the movable main body moves along the first structure. [Claim 5] An inspection device according to any of claims 1 to 4, further comprising: a movable body position detection unit for detecting movable body position information indicating the position of the movable main body , wherein the arm drive is configured to train the arms based on shape information indicating the shapes and sizes of the first structure and the second structure, and position information indicating the position of the body main moving body detected by the moving body position detection unit. [Claim 6] An inspection device according to claim 5, wherein the movable body position detection unit comprises a displacement distance measuring device for measuring the displacement distance of the movable body; and the moving body position detecting unit is configured to calculate the moving body position information based on the shape information, the history of the moving body position information and the movement distance of the moving body measured by the displacement distance measuring device. [Claim 7] Inspection device according to claim 1, further comprising: a distance measuring device intended to measure a distance relative to the second structure, the distance measuring device being installed on the movable main body, wherein the arm drive device is configured to drive the arms, at least partially based on the distance between the distance measuring device and the second structure measured by the distance measuring device. [Claim 8] An inspection device according to claim 1, further comprising: a camera for obtaining an image comprising the image of the second structure, the camera being installed on the movable main body, in which the device Arm training is configured to train the arms, at least partially based on the image obtained by the camera. [Claim 9] Inspection device according to any one of claims 1 to 8, in which at least one of the at least one detector is fixed on an end of at least one of the at least two arms. [Claim 10] Inspection device according to any one of claims 1 to 9, in which the first structure is a main rotor body of a rotary electric machine and the second structure is a stator arranged outside the rotor through an annular gap. [Claim 11] Inspection device according to any one of claims 1 to 10, in which the at least two arms comprise at least three arms, and the arm drive device is configured so as to drive the at least three arms so that at least two of the at least three arms are in the pressed positions when the movable main body is disposed in the gap. [Claim 12] An inspection method comprising: a moving step for moving a main body along a first structure, while the main body is disposed in a gap between the first structure and a second structure facing the exterior of the first structure; an arm driving step intended to train arms so that the at least two arms each selectively assume a pressed position in which the arm extends towards the second structure so as to be pressed towards the second structure, and a separate position in which the arm is separated from the second structure; and an inspection step consisting in inspecting at least one of the first and second structures, with at least one detector fixed on at least one of the movable main body and of the arms, in which the driving step is carried out while at least one of the at least two arms is held in the pressed position.

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同族专利:

公开号 | 公开日

FR3076625B1|2021-04-02|

TWI695161B|2020-06-01|

AU2018278939A1|2019-07-11|

JP6889099B2|2021-06-18|

TW201928321A|2019-07-16|

AU2018278939B2|2020-08-06|

US10871453B2|2020-12-22|

CA3028563A1|2019-06-27|

US20190199179A1|2019-06-27|

JP2019117137A|2019-07-18|

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法律状态:
2019-11-25| PLFP| Fee payment|Year of fee payment: 2 |

2020-05-22| PLSC| Publication of the preliminary search report|Effective date: 20200522 |

2020-10-02| PLFP| Fee payment|Year of fee payment: 3 |

2021-11-15| PLFP| Fee payment|Year of fee payment: 4 |

优先权:

申请号 | 申请日 | 专利标题

JP2017-251812|2017-12-27|

JP2017251812A|JP6889099B2|2017-12-27|2017-12-27|Inspection equipment and inspection method|

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