Rotating electrical machine inspection device, rotating electrical machine inspection system, and rotating electrical machine inspection method

Abstract

The inspection device (1) according to the present invention is inserted into a gap (103) between a stator (102) and a rotor (101) of a rotating electrical machine (100) and inspects a portion (120) to be inspected, the inspection device (1) comprising: traveling bodies (111, 112) which are attached to a base frame (21) and which move the base frame (21) in an axial direction (Y) within the gap (103); a probe (31) that examines a site (120) to be examined; a radial movement unit (20) that moves the probe (31) in a radial direction (X) perpendicular to the axial direction (Y) and the circumferential direction (Z); a circumferential movement unit (30) that moves the probe (31) in the circumferential direction (Z) within the base frame (21); and a roller (38) provided at an axial end of the probe (31) and including a contact medium, the probe (31) having an ultrasonic sensor (311) and a touch plate (312) comprising an elastic member, and the probe (31) inspecting the inspection target portion (120) in the axial direction with the side on which the roller (38) is provided as the front.

Description

Technical Field

[0001] The present disclosure relates to an inspection device for a rotating electric machine, an inspection system for a rotating electric machine, and an inspection method for a rotating electric machine. Background Art

[0002] Wedges are installed in the slots of the rotor of the rotating electrical machine to hold the windings. The wedges may be subjected to the centrifugal force of the windings in the slots and the wedges themselves during the operation of the rotating electrical machine, which may cause cracks on the surface or inside of the wedges themselves. Cracks generated in the wedges of the rotor may cause failures in the rotating electrical machine, so it is recommended to remove the rotor from the stator and check for cracks depending on the number of years of operation and operating conditions.

[0003] In the conventional inspection of the wedge of the rotating electric machine, the operation of pulling out the rotor requires a long stop period, which leads to high cost and reduces the equipment utilization rate, and is accompanied by the possibility of damage to the stator and the rotor. Therefore, a method of inspecting the rotating electric machine without pulling out the rotor from the stator has been proposed. For example, Patent Document 1 discloses an apparatus and method that is inserted between the stator and the rotor of the rotating electric machine and performs inspection remotely without disassembling the stator and the rotor of the rotating electric machine. Prior art literature Patent Literature

[0004] Patent Document 1: Japanese Patent Application Publication No. 2017-138315 Patent Document 2: Japanese Patent No. 7080411 Summary of the invention Technical problem to be solved by the invention

[0005] In the conventional inspection apparatus for rotating electrical machines, the fact that the rotor can be stopped at any angle relative to the arrangement of the stator teeth when the rotating electrical machine is stopped is not fully considered. Therefore, there is a problem that the range of the wedge of the rotor that can be inspected by the apparatus adsorbed on a certain tooth of the stator is limited by the position of the stator to which the apparatus is adsorbed.

[0006] In addition, due to the limitation of the circumferential movement range, when inspecting the wedges of all rotors of the rotating electrical machine, the number of times the device is moved from one stator tooth to another tooth increases, which prolongs the inspection period and reduces the efficiency of the inspection work.

[0007] Furthermore, when there are two or more rotor wedges between adjacent stator teeth, the device may not be able to precisely control the positions of the rotor wedges, and thus may produce wedges that cannot properly contact the surface with the probe. When inspecting such wedges that cannot contact, it is necessary to rotate the stopped rotor to adjust the rotation position, but if the rotor weighing several tons to tens of tons is rotated each time, there is a problem that the efficiency of the inspection work is impaired.

[0008] As a technology for solving the above-mentioned technical problems, the applicant has disclosed the technology shown in Patent Document 2.

[0009] On the other hand, in particular, in inspection devices for large rotating electrical machines, the time required for inspection becomes longer, and therefore it is required to shorten the inspection time without reducing the inspection accuracy.

[0010] The present disclosure discloses a technology for solving the above-mentioned problems, and an object of the present disclosure is to provide an inspection device, an inspection system, and an inspection method for a rotating electric machine that can shorten the inspection time without reducing the inspection accuracy. Technical means for solving technical problems

[0011] The inspection device of the rotating electrical machine disclosed in the present application The inspection device is inserted into the gap between the inner peripheral surface of the stator and the outer peripheral surface of the rotor of the rotating electrical machine to inspect the inspection target portion, wherein the inspection device of the rotating electrical machine comprises: Base frame; A running body, which is mounted on the base frame and moves the base frame axially within the gap; a probe having a phase array type ultrasonic sensor and a touch plate provided on one surface of the ultrasonic sensor and formed of an elastic member, for inspecting the inspection object portion; A radial moving part, which enables the probe to move in a radial direction perpendicular to the axial direction and the circumferential direction; a circumferential moving portion, the circumferential moving portion causing the probe to move circumferentially within the base frame; and a roller, which is disposed at an axial end of the probe and contains a contact medium, The probe is configured to inspect the inspection target portion in the axial direction with the side where the roller is installed as the front. Effects of the Invention

[0012] According to the inspection device, the inspection system, and the inspection method of a rotating electric machine disclosed in the present invention, it is possible to shorten the inspection time without reducing the inspection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram showing the configuration of a rotating electrical machine, a rotating electrical machine inspection device, and a rotating electrical machine inspection system according to the first embodiment. Figure 2 Yes means Figure 1 A perspective view showing an overview of the structure of the inspection device shown. Figure 3 It is used for Figure 2 An exploded perspective view illustrating the outline of the structure of the inspection device shown. Figure 4 It is represented by the axial cross section Figure 1 A cross-sectional view showing the state of the rotating electrical machine and the inspection device. Figure 5 This is an axial cross-sectional view for explaining an inspection method using the inspection device according to the first embodiment. Figure 6 It is a cross-sectional view along the axial direction for explaining the inspection method using the inspection device according to the first embodiment. Figure 7 yes Figure 4 A cross-sectional view of a rotating electrical machine and an inspection device shown. Figure 8 yes Figure 4 A cross-sectional view of a rotating electrical machine and an inspection device shown. Fig. 9 yes Figure 8 An enlarged schematic diagram of a rotating electrical machine and an inspection device is shown. Fig.10 yes Figure 8 The enlarged schematic diagram of the rotating electrical machine and the inspection device shown is an axial longitudinal sectional view. Fig.11 It is a diagram for explaining a method of acquiring cross-sectional data using the inspection apparatus according to the first embodiment. Fig. 12A Yes means Figure 1 A flowchart of an inspection method of an inspection device for an electric rotating machine is shown. Fig. 12B Yes means Figure 1 A flowchart of an inspection method of an inspection device for an electric rotating machine is shown. Fig.13 Yes means Figure 1 FIG. 1 is a hardware configuration diagram of an example of a control unit of an inspection device for a rotating electrical machine shown in FIG. DETAILED DESCRIPTION

[0014] The present disclosure is used to insert an inspection device into the gap between the stator and the rotor of a rotating electric machine in a state where the stator and the rotor of the rotating electric machine are combined, and to inspect the inspection object part of the rotating electric machine by remote operation. Therefore, the inspection device is of course dimensioned and constructed in a manner that can be configured in the gap between the stator and the rotor of the rotating electric machine. In the description of the embodiment shown below, the directions of the rotating electric machine are respectively represented as circumferential Z, axial Y, and radial X. Therefore, in the stator and the rotor, these directions are also the same direction. In addition, the inspection device of the present disclosure is also described based on this direction.

[0015] Implementation method 1. Figure 1 It is a schematic diagram showing the configuration of a rotating electrical machine, a rotating electrical machine inspection device, and a rotating electrical machine inspection system according to the first embodiment. Figure 2 Yes means Figure 1 A schematic perspective view of the structure of the inspection device shown. Figure 3 Yes means Figure 2 A schematic exploded perspective view of the structure of the inspection device shown. Figure 4 It is represented by the axial cross section Figure 1 A schematic cross-sectional view showing the state of the rotating electrical machine and the inspection device shown.

[0016] exist Figure 1 In the present invention, a rotating electrical machine 100 includes a stator 102 and a rotor 101 disposed in the stator 102 via a gap 103. A rotating electrical machine inspection device (hereinafter referred to as an inspection device) 1 for inspecting the rotating electrical machine 100 is inserted into the gap 103 between the inner peripheral surface of the stator 102 of the rotating electrical machine 100 and the outer peripheral surface of the rotor 101, and is dimensioned and configured in a configurable manner to inspect an inspection target portion.

[0017] The inspection system 10 for a rotating electrical machine (hereinafter referred to as the inspection system) includes an inspection device 1, a control unit 51 that controls the movement of a probe 31 of the inspection device 1 in at least one of the circumferential direction Z and the radial direction X, and a display unit 52 that displays the status of the inspection device 1. However, the control unit 51 of the first embodiment controls the movement of the probe 31 in both the circumferential direction Z and the radial direction X. Figure 1 The inspection device 1 is shown in a state where it is arranged at a certain position in the gap 103. However, due to the ferromagnetic body magnetically adsorbed to the inner peripheral surface of the stator 102, that is, the teeth 123 of the core of the stator 102 (see Figure 7 ), so the teeth 123 of the ferromagnetic body, i.e., the iron core of the stator 102, can be configured at any position on the inner circumference of the stator 102 or the outer circumference of the rotor 101.

[0018] Therefore, the inspection device 1 is described in detail below. The inspection device 1 includes a ferromagnetic body mechanism that is magnetically attracted to the inner peripheral surface of the stator 102, and moves in the axial direction Y of the rotating electrical machine 100 while performing inspection of a wedge 120 (see FIG. 1 ) that is a portion to be inspected and is provided in a slot 125 for accommodating a winding (not shown) of a rotor 101 of the rotating electrical machine 100. Figure 7 Since the wedges 120 are respectively provided on the slots 125 of the rotor 101, there are a plurality of wedges 120 as inspection target locations in the circumferential direction Z.

[0019] The inspection device 1 , the control unit 51 , and the display unit 52 are connected via cables 61 and 62 . The control unit 51 remotely controls the inspection device 1 and may also include an input from the outside, such as a user interface such as a keyboard, a mouse, a touch panel, a joystick, etc. In addition, if the inspection device 1, the control unit 51, and the display unit 52 are all configured with built-in power supplies and signal communication is performed wirelessly, the cables 61 and 62 can be omitted.

[0020] exist Figure 2 , Figure 3 In the present invention, the inspection device 1 includes a base frame 21, running bodies 111 and 112, an inspection unit 20 as a radial moving part of a probe 31, and a circumferential adjustment unit 30 as a circumferential moving part of the probe 31. In addition, the inspection unit 20 is configured to move the probe 31 in the radial direction X and to accommodate the probe 31 in the base frame 21. The running bodies 111 and 112 move the base frame 21 in the axial direction Y in the gap 103. The running bodies 111 and 112 are connected to both ends of the base frame 21 in the circumferential direction Z via connecting legs 121 and 122. In addition, the connecting legs 121 and 122 are formed to be replaceable according to the size of the gap 103.

[0021] The running bodies 111 and 112 include: a crawler part 401 having a magnetic force generating device and a crawler that moves by using a magnet and magnetic attraction force, for example; a first motor 402 that generates a driving force for the crawler part 401; and a housing 403 that is formed of a non-magnetic material such as aluminum to accommodate them. The running bodies 111 and 112 are attracted to the teeth 123 of the core of the stator 102 (see Figure 7 ) receives a signal from the control unit 51 and moves and stops along the axial direction Y along the teeth 123 of the iron core of the stator 102.

[0022] The traveling bodies 111 and 112 are supported by the connecting legs 121 and 122 so that the inspection unit 20 is located at a position where an appropriate gap is maintained with respect to the inner peripheral surface of the stator 102 and the outer peripheral surface of the rotor 101. In addition, the fixed positions of the connecting legs 121 and 122 are set so that the traveling surface of the crawler section 401 of the traveling bodies 111 and 112 is arranged at the position of the iron core of the inner peripheral surface of the stator 102.

[0023] The movement of the traveling bodies 111 and 112 may be performed by parts other than the crawler parts 401, for example, wheels may be used. In addition, an encoder may be mounted, for example, the movement distance of the crawler parts 401 may be measured by measuring the rotation of the first motor 402. In addition, instead of the inner circumferential surface of the stator 102, the crawler parts 401 may be fixed in a manner opposite to the outer circumferential surface of the rotor 101, so that the crawler parts 401 are mounted on the outer circumferential surface of the rotor 101 and move.

[0024] The inspection unit 20 is disposed on a base frame 21, and includes a direct-acting portion 22, a guide arm 231, guide portions 232, 233, and connecting rod portions 241, 242. The direct-acting portion 22 is, for example, a ball screw mechanism, and includes a ball screw 221, a second motor 222 mounted on the ball screw 221 to generate a driving force, and a bearing 223. In addition, upon receiving a signal from the control unit 51, the second motor 222 rotates, and the guide portions 232, 233 are moved in the direction of 1 degree of freedom (axial direction Y) via the ball screw 221, so that the connecting rod portions 241, 242 are retracted or extended, thereby lifting or lowering the circumferential adjustment unit 30 in the radial direction X, that is, the probe 31 of the circumferential adjustment unit 30 is moved in the radial direction X.

[0025] In addition, the movement of the linear motion part 22 and the connecting rod parts 241, 242 is not limited to the movement based on the ball screw 221, and for example, a mechanism such as a cylinder or a linear motor may be used as long as it is a mechanism that can lift, lower or move the probe 31 in the radial direction X. In addition, the driving source may be air pressure, oil pressure, or manual in addition to electricity.

[0026] The circumferential direction adjustment unit 30 is provided on the base frame 21 , and includes a rack 32 and a pinion 33 as a rack and pinion mechanism, a third motor 34 for generating a driving force for the pinion 33 , and a frame 35 with a guide groove 351 .

[0027] The circumferential adjustment unit 30 receives a signal from the external control unit 51, and the third motor 34 rotates the pinion 33, so that the probe 31 moves in a direction different from the above-mentioned freedom direction (circumferential direction Z) along the rack 32 installed according to the arch curvature of the frame 35. The probe 31 is supported and guided by a cam follower (not shown) and a guide groove 351, thereby reducing the load on the tooth tops of the rack 32 and the pinion 33 to prevent it from falling off.

[0028] In addition, the base frame 21 and the frame 35 may be flat, or may be arched along the outer peripheral surface of the stator 102 of the rotating electrical machine 100 or the inner peripheral surface of the rotor 101, and the arc length of the curved portion may be configured to be an arbitrary length. In addition, the base frame 21 and the frame 35 may be provided with the probe 31, other parts such as a part for storing the motor, cable wiring and cables, and a cover for not damaging the inner surface of the rotating electrical machine 100.

[0029] In the inspection device 1, as an aid in remotely operating the movement in the axial direction Y, the lifting and storage of the circumferential adjustment unit 30, and the movement of the probe 31 in the circumferential direction Z, a camera may be installed on the inspection device 1 in an arbitrary direction, and a lighting device may be installed to make the image information obtained by the camera clear. In addition, in order to make the probe 31 contact the wedge 120 of the rotor 101 with high accuracy, a laser rangefinder or a laser pointer may be installed, and a three-axis or more acceleration sensor for detecting the posture of the probe 31 may be used. In the present embodiment 1, in order to perform this operation, the circumferential adjustment unit 30 is equipped with a camera 36 and a laser rangefinder 37. In addition, the image of the camera 36 is displayed on the display unit 52 as the state of the inspection device 1.

[0030] The structure of the probe 31 will be described in detail later, but a roller 38 containing a contact medium is provided at the axial end of the probe 31, that is, at the front side running along the axial direction Y. In addition, a retainer 39 is provided at the four corners of the probe 31 so that the probe 31 can stably contact the inspected object during the inspection. The roller 38 and the retainer 39 are mounted on a frame 35, for example.

[0031] Figure 4 1 is a schematic cross-sectional view showing a cross section in the axial direction Y in a state where the inspection device 1 is inserted into the gap between the stator 102 and the rotor 101 of the rotating electrical machine 100. In the gap 103 between the stator 102 and the rotor 101 of the rotating electrical machine 100, the entrance 104 is the narrowest. Then, the inspection device 1 needs to be inserted into the interior from the entrance 104 and taken out from the interior. Therefore, when passing through the entrance 104 of the gap 103, the inspection device 1 operates the inspection unit 20 according to the signal of the control unit 51, shrinks the circumferential adjustment unit 30 and the probe 31 in the radial direction X, and passes through in a state in which the circumferential adjustment unit 30 and the probe 31 are stored. The other end 105 opposite to the entrance 104 in the axial direction is the axial inspection end point.

[0032] Next, the structure of the probe 31 will be described. Figure 5 and Figure 6 is a schematic diagram for explaining an inspection method of the inspection device 1 using the probe 31. Figure 5 is an axial cross-sectional view. Figure 6The probe 31 is composed of a phase array type ultrasonic sensor 311 having a plurality of ultrasonic oscillators 311 a and a contact plate 312 made of an elastic member provided on the surface of the ultrasonic sensor 311 on the subject side, which are fixed to a holder 310 .

[0033] The contact plate 312 is made of rubber that is filled with a liquid such as oil or water and sealed. When the inspection device 1 moves on the surface of the wedge 120 of the rotor to be inspected, it can deform along the unevenness of the surface of the wedge 120 and ensure close contact with the wedge 120 during movement.

[0034] In addition, during the inspection, there is a contact medium (not shown) between the probe 31 and the wedge 120, that is, between the contact plate 312 and the wedge 120. The contact medium is a material having adhesion and sliding properties between the contact plate 312 and the wedge 120, and considering the use inside the rotating electric machine, an oil having insulating, semi-drying or non-drying properties (e.g., salad oil) is used.

[0035] As described above, in the first embodiment, the inspection device 1 is arranged in the gap 103, and the roller 38 containing the contact medium is provided on the front side of the inspection device 1 traveling in the axial direction Y. The roller 38 is, for example, a coating roller with high hygroscopicity, and is immersed in the contact medium in advance to absorb the contact medium. Since the roller 38 travels in front of the probe 31 while pressing the wedge 120 during the inspection, the contact medium can be supplied between the contact plate 312 and the wedge 120 during the traveling of the inspection device 1. In this way, by making the roller 38 absorb the contact medium in advance, a storage device or a supply device for supplying the contact medium is not required, and the inspection device 1 can be miniaturized, and the inspection accuracy can be stabilized.

[0036] In addition, as described above, in the first embodiment, the holders 39 are arranged at the four corners of the probe 31 so that the probe 31 can stably contact the object to be inspected during inspection. Even if the touch plate 312 is tilted to follow the unevenness of the surface of the wedge 120, which is the object to be inspected, and is brought into close contact with the wedge 120, the wedge 120 and the probe 31 can be kept parallel by the holders 39, thereby improving the posture stability of the touch plate 312. The holders 39 are preferably provided at the four corners of the probe 31, but if at least two are provided at positions opposite to each other in the axial direction with the probe 31 sandwiched therebetween, the axial balance can be maintained.

[0037] The control unit 51 includes an ultrasonic flaw detection device 511 that controls receiving reflected waves by transmitting ultrasonic waves from a phase array type ultrasonic sensor 311. In addition, a PC (personal computer) 512 or the like may be provided to operate the ultrasonic flaw detection device 511 or to communicate acquired cross-sectional data.

[0038] Figure 7 and Figure 81 is a schematic cross-sectional view showing a cross section of the inspection device 1 in the radial direction X in the gap 103 between the rotor 101 and the stator 102 of the rotating electric machine 100 in the first embodiment. Here, the contact plate 312, the roller 38, and the retainer 39 of the probe 31 are omitted. In the stator 102, the grooves 124 are discontinuously arranged on the inner peripheral surface of the iron core which is a ferromagnetic body, and the running body is attracted along the teeth 123 of the iron core on the inner peripheral surface of the stator 102. The wedge 120 of the rotor 101 is located at a position opposite to the stator 102, and the relative positional relationship with the arrangement of the slot 124 of the stator 102 is not fixed in the circumferential direction Z. In the circumferential adjustment unit 30, it is configured so that the probe 31 is moved in the circumferential direction Z in the inspection device 1 so that the probe 31 is opposite to the surface of the wedge 120 of the rotor 101, thereby improving the contact property.

[0039] When the probe 31 is pressed against the surface of the wedge 120A to be inspected in the wedge 120 of the rotor 101, the force of the probe 31 pressing is controlled by, for example, controlling and limiting the current of the second motor 222 of the ball screw 221. Furthermore, the probe 31 is controlled so as to change the contact state of the probe 31 minutely or to prevent damage to the mechanism elements.

[0040] Fig. 9 Yes Figure 8 In the partially enlarged schematic diagram, the track portion 401 of the traveling body 111, 112 is arranged at the position of the core of the inner circumference of the stator 102, lifted from the connecting rod portions 241, 242, and the contact plate 312 of the probe 31 in close contact with the surface of the wedge 120A of the inspection object is balanced by the retainer 39.

[0041] Fig.10 1 is a schematic diagram showing a cross section of the inspection device 1 along the axial direction Y in a state where the wedge 120 of the rotor 101 of the rotating electrical machine 100 is inspected. When inspecting the wedge 120 on the surface of the rotor 101, the contact plate 312 of the probe 31 is moved to the inspection start point near the entrance 104 of the gap 103, that is, the surface position of the wedge 120 of the rotor 101, and is brought into contact, thereby starting the inspection. The probe 31 is moved in a state where the contact plate 312 is pressed from the inspection start point of the wedge 120 near the entrance 104 of the gap 103 to the inspection end point at the other end 105. A roller 38 containing a contact medium is present in front of the moving direction, and the contact medium is provided to the contact surface between the contact plate 312 and the wedge 120, so that the movement is performed smoothly.

[0042] Next, a method of acquiring inspection data will be described. Fig.11 1 is a schematic diagram showing a cross section of the inspection device 1 along the axial direction Y in a state of inspecting the wedge 120 of the rotor 101 of the rotating electrical machine 100 and a diagram showing acquired data. Cross-sectional data is acquired at predetermined intervals from the inspection start point near the entrance 104 of the gap 103. Figure 5As shown in FIG. 1 , the cross-sectional data is an image generated at a certain point by the ultrasonic wave transmitted from the ultrasonic sensor 311 and the reflected wave reflected by the crack or the like. The cross-sectional data is acquired at intervals set to images d2, ..., dk (k is an integer greater than 1) from the image d1 at the start point until the image dn (n is an integer, k≤n) at the inspection end point is acquired. In this way, by acquiring two-dimensional cross-sectional data along the axial direction, three-dimensional data can also be generated, so that the state of the crack generated on the wedge can be acquired with high accuracy.

[0043] The interval for acquiring image data can be set, for example, according to the moving distance. The length of the axial wedge 120 can be acquired in equal parts and at equal intervals, or it can be set at unequal intervals based on past data to shorten the interval at a location where cracks are prone to occur. Alternatively, the distance information of the encoder mounted on the first motor 402 that drives the traveling bodies 111 and 112 can be used. In addition, image data can also be acquired based on time intervals. For example, the interval can be set by a timer in synchronization with the moving speed. In addition, the touch panel 312 is moved while being pressed, but the pressing may be reduced during the movement compared to the inspection, and the image data may be acquired by pressing in synchronization with the moving speed and moving distance. Therefore, a pressure-sensitive sensor or strain gauge may be provided on the holder 310 holding the ultrasonic sensor 311 to measure and control the pressing.

[0044] In the first embodiment, since the inspection is performed by acquiring a plurality of cross-sectional data in the axial direction while the probe 31 is moved in the axial direction, Figure 5 and Fig. 9 As shown, the circumferential width of the touch plate 312 is set in advance to be at least equal to or greater than the circumferential width of the wedge 120 in contact. When the circumferential width of the touch plate 312 is smaller than the circumferential width of the wedge 120 in contact, the ultrasonic wave cannot reach the inside of the wedge 120, which may cause leakage. If the circumferential width of the touch plate 312 is too large, the ultrasonic wave will be transmitted to a place where there is no wedge 120, and the ultrasonic wave cannot be used effectively. In addition, since the image data is acquired by moving in the axial direction of the wedge 120, if the deviation of the axial movement is taken into consideration, the circumferential width of the touch plate 312 can be set to be larger than the circumferential width of the wedge 120, and the circumferential end of the touch plate 312 can be set to reach below the center of the circumferential interval of the wedge 120. Since the touch plate 312 becomes a contact medium that effectively transmits the ultrasonic wave, the circumferential width of the ultrasonic sensor 311 can also be smaller than the width of the wedge 120.

[0045] Next, an inspection method of the inspection device 1 for the rotating electrical machine according to the first embodiment configured as described above will be described with reference to the drawings. Fig. 12A and Fig. 12BThis is a flowchart showing an inspection method of the inspection device for a rotating electrical machine in Embodiment 1. In Embodiment 1, an example of performing a full inspection of the inspection target parts is shown. In addition, the movement order of the probe 31 in each step in the flowchart is an example, and the order may be changed as long as it is a method that can complete the inspection of the inspection target parts.

[0046] First, the control unit 51 operates the inspection device 1 of the inspection system 10 from the entrance 104 of the rotating electrical machine 100, and brings the inspection device 1 into and inserts it into the gap 103 between the rotor 101 and the stator 102. At this time, the inspection device 1 may be arranged on the outer peripheral surface of the rotor 101 in addition to the inner peripheral surface of the stator 102. Then, the inspection device 1 is moved in the axial direction Y to the position of the wedge 120 of the inspection target portion of the rotor 101 by the operation of the control unit 51 (step ST11).

[0047] Next, the circumferential adjustment unit 30 including the probe 31 of the inspection device 1 is lifted in the radial direction X by the operation of the control unit 51 using the direct-acting portion 22 and the connecting rod portions 241 and 242 of the inspection unit 20 so as to approach the surface of the rotor 101 (step ST12). Next, the third motor 34 connected to the pinion 33 of the circumferential adjustment unit 30 is operated by the control unit 51 so as to move the probe 31 in the circumferential direction Z to a position opposite to the surface of the wedge 120 of the inspection target portion of the rotor 101 (step ST13). This position is the inspection start point. At this time, even if the circumferential Z position of the probe 31 of the inspection device 1 at the time of initial insertion deviates from the circumferential Z position of the wedge 120, the probe 31 can be reliably set at a position opposite to the wedge 120.

[0048] Next, the touch plate 312 of the probe 31 is brought into contact with the surface of the wedge 120 of the rotor 101 to acquire internal reflection data caused by ultrasonic waves (step ST14). At this time, if appropriate image data can be acquired ("Yes" in step ST15), the inspection is started with the image data as the data of the inspection start point (step ST16). If the data acquired in step ST14 is inappropriate, for example, the position of the probe 31 in the circumferential direction is offset, a part of the cross-sectional image of the wedge 120 of the object is missing, the ultrasonic wave is unstable, etc., one end of the probe 31 is separated from the surface of the wedge 120 (step ST20), and then the process returns to step ST13 or step ST14 to acquire reflection data again. If there is a large offset in the circumferential direction and the position of the probe 31 in the circumferential direction needs to be adjusted, the process can return to step ST13. If only the balance of the touch plate 312 needs to be readjusted, the process can return to step ST14, etc. The step to return to can be determined based on the image in step ST15.

[0049] In step ST16, the acquisition of cross-sectional image data is started, and the probe 31 moves from the entrance 104 of the gap 103 to the other end 105 while pressing the touch plate 312, and acquires image data at a preset interval (step ST17). When the probe 31 reaches the other end side of the inspection start point of the wedge 120, that is, the inspection end point, the touch plate 312 of the probe 31 is separated from the surface of the wedge 120 and moved in the axial direction to the inspection start point (step ST18). Thus, the inspection of the wedge 120 in one axial direction is completed. If there are other wedges 120 to be inspected ("No" in step ST19), the inspection is performed again from step ST13. In this case, in step ST13, the probe 31 moves in the circumferential direction Z to a position opposite to the other wedges 120. If there are no other wedges 120 to be inspected ("Yes" in step ST19), the inspection of all inspection objects is completed. In the rotating electric machine 100 of the present disclosure, the rotating electric machine 100 is inspected by acquiring image data in the axial direction by the inspection device 1 , so that the inspection time can be reduced, and efficient operation of the rotating electric machine 100 can be achieved.

[0050] As described above, according to the inspection device of the rotating electric machine of embodiment 1, the inspection object part is inspected by inserting into the gap between the inner peripheral surface of the stator and the outer peripheral surface of the rotor of the rotating electric machine, and the inspection device of the rotating electric machine includes: a base frame; a traveling body, which is installed on the base frame and moves the base frame axially in the gap; a probe, which has a phase array type ultrasonic sensor and a touch plate arranged on one surface of the ultrasonic sensor and composed of an elastic member, and inspects the inspection object part; a radial moving part, which moves the probe in a radial direction perpendicular to the axial direction and the circumferential direction; a circumferential moving part, which moves the probe circumferentially in the base frame; and a roller, which is arranged at the axial end of the probe and contains a contact medium. The probe takes the side where the roller is arranged as the front and inspects the inspection object part in the axial direction, so that the axial image data of the inspection object can be obtained, thereby improving the efficiency of the inspection operation and shortening the period of the inspection operation. In addition, since a contact medium is provided between the touch plate of the probe and the surface of the inspection object part from a roller arranged in front of the movement of the probe, the probe can properly contact the surface of the inspection object part, thereby being able to obtain signals based on surface or internal defects of the inspection object part with high precision.

[0051] In addition, the probe can be moved circumferentially within the inspection device, so that one or more inspection target parts can be inspected, the movement restrictions of the inspection device can be reduced, the efficiency of the inspection operation can be improved, and the inspection operation period can be shortened. In addition, since the probe can be moved circumferentially within the inspection device, even if the inspection device stops at any circumferential position, the inspection object and the probe can be adjusted to an appropriate positional relationship so that the probe can properly contact the surface of the inspection object. In addition, the frequency of adjusting the position of the rotor and reconfiguration for inspection can be reduced, thereby ensuring ease of inspection and enabling inspection to be carried out in a short period of time.

[0052] In addition, since the probe can be moved in the circumferential direction within the inspection device, even if the inspection device stops at any position in the circumferential direction, the inspection target part and the probe can be adjusted to an appropriate positional relationship, and the probe can be brought into appropriate contact with the surface of the inspection target part, and the frequency of adjustment work and reconfiguration of the rotor position for inspection can be reduced, and the ease of inspection can be ensured, and the inspection can be carried out in a short period of time. In addition, since the probe can be brought into appropriate contact with the surface of the inspection target part, a signal based on a defect on the surface or inside of the inspection target part can be obtained with high accuracy.

[0053] The inspection device for a rotating electrical machine of the first embodiment further includes a holder that holds the probe in an axial relative position to stabilize the posture of the touch plate. Preferably, since the holder is disposed at the four corners of the probe, even if the touch plate is tilted and brought into close contact in a manner that imitates the unevenness of the inspection object, the holder can maintain the surface of the inspection object and the probe parallel to improve the posture stability of the touch plate. Therefore, it is possible to suppress a decrease in inspection accuracy.

[0054] In the inspection device for a rotating electrical machine of the first embodiment, since the circumferential width of the touch plate is set equal to or greater than the circumferential width of the inspection target portion, the cross-section of the inspection target portion can be inspected once, and if there is a deviation within the difference between the circumferential width of the inspection target portion and the circumferential width of the touch plate during axial movement, the inspection accuracy will not be affected. That is, when the circumferential width of the touch plate is small, in order to inspect the same cross-section of the inspection target portion multiple times, it is necessary to move in the circumferential direction, and repeatedly perform inspection, circumferential movement, axial movement, inspection, circumferential movement, etc., which becomes a complicated movement and requires adjustment time for moving to an appropriate position. This problem is solved in the first embodiment, and inspection can be performed only by axial movement.

[0055] Furthermore, the traveling body is mounted on the base frame via the connecting legs, and the connecting legs are replaceable according to the size of the gap. Therefore, the connecting legs can be replaced according to the size of the gap of the rotating electrical machine, thereby improving the versatility of the inspection device.

[0056] Furthermore, since the radial moving portion is configured to be able to move the probe in the radial direction and to accommodate the probe in the base frame, it is possible to prevent the probe from becoming an obstruction when the inspection device is inserted into the gap of the rotating electrical machine.

[0057] In addition, since the traveling body includes a track portion that moves along the inner peripheral surface of the stator of the rotating electrical machine or the ferromagnetic outer peripheral surface of the above-mentioned rotor by magnetic attraction force, and a first motor that generates driving force for the track portion, the axial movement of the inspection device can be easily performed.

[0058] Furthermore, since the radial moving portion controls the pressing force of the probe on the inspection target site, the probe can be brought into contact with the inspection target site appropriately without damaging the inspection target site or other sites.

[0059] In addition, the radial moving part includes a direct-acting part that moves in the axial direction and a connecting rod part that moves in the radial direction by being linked by the movement of the direct-acting part. The direct-acting part includes a ball screw and a second motor that generates a driving force for the ball screw, thereby reliably performing radial movement of the probe.

[0060] Furthermore, since the circumferential moving portion is constituted by a rack and pinion mechanism having a rack and a pinion and includes a third motor for generating a driving force for the pinion, the circumferential movement of the probe can be performed reliably and simply.

[0061] In addition, according to the inspection device system for a rotating electric machine of embodiment 1, since it includes the inspection device for a rotating electric machine of embodiment 1 described above, a control unit that controls the movement of at least one of the circumferential and radial directions of the above-mentioned probe of the inspection device, and a display unit that displays the status of the inspection device, it is possible to realize an inspection device system for a rotating electric machine that has high accuracy and can shorten the inspection time compared to the past.

[0062] In addition, since the control unit acquires image data of the cross section of multiple inspection object parts along the axial direction at a preset interval, it is possible to easily determine the defective parts and improve the inspection accuracy. In addition, the acquired data can be connected in the axial direction through image processing to generate three-dimensional data, which helps to further improve the inspection accuracy.

[0063] In addition, according to the inspection device method of the rotating electric machine of embodiment 1, in a state where the rotor and stator of the rotating electric machine are assembled, the inspection device of the rotating electric machine of embodiment 1 described above is used to inspect multiple inspection target locations at different circumferential locations along the axial direction. The inspection method of the rotating electric machine includes: a step of inserting the inspection device into the gap between the stator and the rotor and moving it to an inspection target location; a step of inspecting with a probe along the axial direction at a preset interval from a starting point of an inspection target location; a step of moving the probe axially to the starting point when the inspection end point of an inspection target location is reached; and a step of moving the probe so that the probe is relative to other inspection target locations different from the one inspection target location and included in the range in which the probe can move circumferentially in the inspection device, and inspecting the other inspection target locations, thereby obtaining axial image data of the inspection object, improving the efficiency of the inspection operation, and shortening the inspection operation period.

[0064] In addition, the steps of the probe inspection include: the step of moving the probe to a relative position of the inspection object; the step of moving the probe to the surface of the inspection object; and the step of moving the probe in the axial direction while in contact with the surface of the inspection object. Thus, the probe does not repeatedly push and pull during the axial inspection, which helps to further shorten the inspection operation.

[0065] As shown in FIG14 as an example of hardware, the control unit 51 is composed of a processor 200 and a storage device 201. Although the storage device is not shown in the figure, it includes a volatile storage device such as a random access memory and a non-volatile auxiliary storage device such as a flash memory. In addition, an auxiliary storage device such as a hard disk may be included instead of the flash memory. The processor 200 executes a program input from the storage device 201. In this case, the program is input from the auxiliary storage device to the processor 200 via the volatile storage device. In addition, the processor 200 can output data such as calculation results to the volatile storage device of the storage device 201, and can also save the data to the auxiliary storage device via the volatile storage device.

[0066] In the above description, a circumferential moving part that moves the probe in the circumferential direction within the base frame is described, but a circumferential adjusting part that moves the traveling body within the circumferential width range of the stator teeth to adjust the circumferential position of the probe relative to the inspection object part may be provided. The circumferential adjusting part is performed by a known circumferential moving mechanism described in U.S. Application Publication No. 2007 / 0089544, for example, but is not limited to this example. The circumferential adjustment unit adjusts the circumferential position of the probe relative to the inspection target part to compensate for the phase shift of the rotor and the stator. Here, the so-called phase shift is, for example, the shift of the probe relative to the wedge of the inspection target part, which is a shift within the circumferential width of the stator teeth. Therefore, within the circumferential width of the stator teeth, by providing the circumferential adjustment unit for adjusting the circumferential position of the probe, the probe can be made to face the wedge of the inspection target part with higher accuracy.

[0067] <Other Implementation Methods> In the first embodiment, the wedge of the rotor is used as an example to explain the inspection target part, but even if the tooth part (teeth) located between adjacent wedges is used as the target, the inspection device, inspection system and inspection method can be applied. In addition, the example in which the inspection device 1 drives the stator is explained, but the rotor can also be driven.

[0068] In addition, although the image data is acquired along the axial direction, it is also possible to store the image data and compare it with the past data. By comparing or calculating the difference with the image data of the same part, the omission of defects can be eliminated. In addition, the signs of the occurrence of defects can be detected, and information for the establishment of inspection schedules can also be provided.

[0069] The circumferential width of the touch plate is equal to or greater than the circumferential width of the inspection object, but the circumferential width of the touch plate may be determined by taking into account the fact that a plurality of rotating electrical machines are inspected by one inspection device. For example, rotating electrical machines of different sizes may be grouped, and the circumferential width of the touch plate may be determined based on the maximum circumferential width of the inspection object in the group.

[0070] Although the roller and the holder are shown as an example in which they are mounted on the frame of the circumferential adjustment unit, they are not limited thereto and may be mounted on the holder of the probe, for example.

[0071] Although the present disclosure describes exemplary embodiments, various features, aspects, and functions described in the embodiments are not limited to application to specific embodiments, and can be applied to the embodiments alone or in various combinations. Therefore, it is considered that numerous modifications not shown in the examples are also included in the technical scope disclosed in the present disclosure, including, for example, modifications, additions, or omissions of at least one structural element. Description of symbols

[0072] 1 Inspection device, 10 Inspection system, 100 Rotating electric machine, 101 Rotor, 102 Stator, 103 Gap, 104 Inlet, 105 Other end, 111 Traveling body, 112 Traveling body, 120 Wedge, 120A wedge, 121 Connecting foot, 122 Connecting foot, 123 Tooth, 124 Groove, 125 Groove, 20 Inspection unit, 200 Processor, 201 Storage device, 21 Base frame, 22 Direct-acting part, 221 Ball screw, 222 Second motor, 223 Bearing, 231 Guide arm, 232 Guide part, 233 Guide part, 241 Connecting rod part, 242 connecting rod part, 30 circumferential adjustment unit, 31 probe, 310 retainer, 311 ultrasonic sensor, 311a ultrasonic oscillator, 312 touch plate, 32 rack, 33 pinion, 34 third motor, 35 frame, 351 guide groove, 36 camera, 37 laser rangefinder, 38 roller, 39 retainer, 401 track part, 402 first motor, 403 housing, 51 control part, 511 ultrasonic flaw detection device, 512 PC (personal computer), 52 display part, 61 cable, 62 cable, X radial, Y axial, Z circumferential.

Claims

1. An inspection device for a rotating electrical machine, The inspection device for a rotating electric machine is inserted into a gap between the inner peripheral surface of a stator and the outer peripheral surface of a rotor of the rotating electric machine to inspect an inspection target portion, and the inspection device for a rotating electric machine is characterized in that it includes: Base frame; A running body, which is mounted on the base frame and moves the base frame axially within the gap; a probe having a phase array type ultrasonic sensor and a touch plate provided on one surface of the ultrasonic sensor and formed of an elastic member, for inspecting the inspection object portion; A radial moving part, which enables the probe to move in a radial direction perpendicular to the axial direction and the circumferential direction; A circumferential moving portion, which enables the probe to move circumferentially within the base frame; as well as a roller, which is disposed at an axial end of the probe and contains a contact medium, The probe inspects the inspection target portion in the axial direction with the side where the roller is installed as the front.

2. The inspection device for a rotating electrical machine according to claim 1, characterized in that: A holder is further included, which holds the probe in a relative position in the axial direction to stabilize the posture of the touch plate.

3. The inspection device for a rotating electrical machine according to claim 2, characterized in that: The holders are arranged at four corners of the probe.

4. The inspection device for a rotating electrical machine according to any one of claims 1 to 3, characterized in that: The circumferential width of the touch panel is equal to or larger than the circumferential width of the inspection object portion.

5. The inspection device for a rotating electrical machine according to any one of claims 1 to 4, characterized in that: The travel body is mounted on the base frame via connecting legs. The connecting leg is formed to be replaceable according to the size of the gap.

6. The inspection device for a rotating electrical machine according to any one of claims 1 to 5, characterized in that: The radial moving portion is configured to move the probe in a radial direction and to accommodate the probe in the base frame.

7. The inspection device for a rotating electrical machine according to any one of claims 1 to 6, characterized in that: The traveling body includes: a crawler part that moves along a ferromagnetic body of an inner peripheral surface of a stator of the rotating electrical machine or an outer peripheral surface of the rotor by utilizing a magnetic attraction force; and A first electric motor generates a driving force for the crawler belt portion.

8. The inspection device for a rotating electrical machine according to any one of claims 1 to 7, characterized in that: The radial moving portion controls a pressing force of the probe against the inspection target site.

9. The inspection device for a rotating electrical machine according to any one of claims 1 to 8, characterized in that: The radial moving part includes: a direct-acting part that moves in the axial direction; and a connecting rod part that moves in the radial direction by being linked with the movement of the direct-acting part. The linear motion unit includes: a ball screw; and a second motor that generates a driving force for the ball screw.

10. The inspection device for a rotating electrical machine according to any one of claims 1 to 9, characterized in that: The circumferential moving part is composed of a rack and pinion mechanism having a rack and a pinion, and includes a third motor that generates a driving force for the pinion.

11. A rotating electrical machine inspection system, characterized in that: include: The inspection device for a rotating electrical machine according to any one of claims 1 to 10; A control unit that controls the movement of the probe of the inspection device in at least one of a circumferential direction and a radial direction; as well as A display unit displays a status of the inspection device.

12. The inspection system for a rotating electrical machine according to claim 11, characterized in that: The control unit acquires image data of a plurality of cross sections of the inspection target site in the axial direction at preset intervals.

13. A method for inspecting a rotating electrical machine, The inspection method of the rotating electric machine is to inspect a plurality of inspection target locations at different locations in the circumferential direction along the axial direction using the inspection device of the rotating electric machine according to any one of claims 1 to 10 in a state where the rotor and stator of the rotating electric machine are assembled, and the inspection method of the rotating electric machine is characterized by comprising: Inserting the inspection device into a gap between the stator and the rotor, and moving the inspection device to an inspection target site; The step of inspecting the inspection object part by the probe at a predetermined interval along the axial direction from a starting point of the inspection object part; When reaching an inspection end point of the inspection object part, moving to a starting point in the axial direction; as well as The step of moving the probe so that the probe faces other inspection target parts different from the one inspection target part and included in the range in which the probe can move circumferentially in the inspection device, and inspecting the other inspection target parts.

14. The inspection method of a rotating electrical machine according to claim 13, characterized in that: The steps of the probe inspection include: The step of moving the probe to a relative position of the inspection object part; A step of moving the probe to the surface of the inspection object part; and The step of moving the contact plate of the probe in the axial direction while the contact plate is in contact with the surface of the inspection target site.

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