Repairing system

Abstract

To provide a repairing system capable of easily efficiently repairing a rotary electric machine.SOLUTION: A repairing system according to an embodiment has a traveling device that travels when inserted into a gap between a rotor and a stator of a rotary electric machine, and a control device that controls operation of the traveling device. The traveling device has a movement mechanism that moves the traveling device within the gap, and a repairing mechanism that repairs a repair target point of the rotary electric machine within the gap. The repairing mechanism includes a nozzle that discharges a repairing material for repairing the repair target point through a nozzle discharge port. When repairing the repair target point, the control device controls the operation of the movement mechanism and the operation of the repairing mechanism to apply the repairing material to the repair target point by discharging the repairing material through the nozzle discharge port of the nozzle in a state where the traveling device has been moved.SELECTED DRAWING: Figure 4A

Description

[Technical Field]

[0001] SUMMARY OF THE INVENTION Embodiments relate to a repair system. [Background technology]

[0002] In rotating electric machines such as generators and electric motors, a gap is formed between the stator and rotor. The stator has stator slots formed on the surface of the stator core that faces the rotor across a gap, and the stator coils housed in the stator slots are fixed inside the stator slots by stator wedges. Similarly, the rotor has rotor slots formed on the surface of the rotor core that faces the stator across a gap, and the rotor coils housed in the rotor slots are fixed inside the rotor slots by rotor wedges.

[0003] Rotating electric machines are inspected to prevent large-scale failures. Inspections of rotating electric machines include, for example, checking the state of fixation (looseness) of stator wedges on the stator core of the stator. Because the stator wedges are installed on the side of the stator where gaps are located, the inspection of the fixation state of the stator wedges is performed, for example, by visually inspecting the stator wedges after disassembly, such as by removing the rotor from the stator. In addition, the inspection of the fixation state of the stator wedges is performed after disassembly, such as by listening to the sound generated when hitting the stator wedges with a hammer. Therefore, when performing the above-described inspection, the rotating electric machine may be shut down for a long period of time. Furthermore, the inspection may require a large number of workers because the inspection involves disassembly of the rotating electric machine.

[0004] For this reason, a traveling system has been proposed that allows inspection to be performed without disassembling the rotating electric machine by inserting a traveling device into the gap between the stator and rotor and having a control device control the traveling of the traveling device in that gap. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6425844 [Patent Document 2] U.S. Patent No. 7,624,827 [Patent Document 3] Japanese Patent Application Publication No. 2019-117137 [Patent Document 4] Japanese Patent Application Publication No. 2019-117138 Summary of the Invention [Problem to be solved by the invention]

[0006] Rotating electric machines may require repair depending on the results of inspections, etc. For example, repair is required when a problem (such as loosening) occurs in the state in which the stator wedges are fixed to the stator core in the stator. However, conventional running systems do not have a means for performing repairs in the gap between the stator and rotor, making it difficult to perform repairs efficiently.

[0007] Therefore, an object of the present invention is to provide a repair system that can easily realize efficient repair of a rotating electrical machine. [Means for solving the problem]

[0008] A repair system according to an embodiment includes a traveling device that travels while inserted in a gap between a rotor and a stator of a rotating electric machine, and a control device that controls the operation of the traveling device. The traveling device includes a movement mechanism that moves the traveling device through the gap, and a repair mechanism that repairs a portion of the rotating electric machine that needs to be repaired in the gap. The repair mechanism includes a nozzle that discharges a repair material from a nozzle outlet to repair the portion to be repaired. When repairing the portion to be repaired, the control device controls the operation of the movement mechanism and the repair mechanism so that, while the traveling device is moving, the repair material is discharged from the nozzle outlet of the nozzle, thereby applying the repair material to the portion to be repaired. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram schematically illustrating a water turbine power generating facility 30 including a rotating electric machine 20 in an embodiment. [Figure 2A] FIG. 2A shows an enlarged partial cross section (a plane (xy plane) perpendicular to the axial direction of the central rotation axis AX) of the stator 23 in the embodiment. [Figure 2B] FIG. 2B shows the inner circumferential surface of the stator 23 in the embodiment, viewed in the radial direction of the rotation center axis AX. [Figure 3] FIG. 3 is a block diagram that schematically illustrates a repair system 800 in accordance with an embodiment. [Figure 4A] FIG. 4A is a diagram schematically illustrating the entire traveling device 500 in the repair system 800 of the embodiment. [Figure 4B] FIG. 4B is a diagram schematically illustrating the entire traveling device 500 in the repair system 800 of the embodiment. [Figure 4C] FIG. 4C is a schematic enlarged view of a portion of the traveling device 500 according to the embodiment where the imaging device 52 is provided. [Figure 4D] FIG. 4D is a schematic enlarged view of a portion of the traveling device 500 according to the embodiment where the repair mechanism 55 is provided. [Figure 5A] FIG. 5A is a flow diagram showing the operation when "straight ahead control" is performed in the repair system 800 of this embodiment. [Figure 5B] FIG. 5B is a diagram showing an example of imaging data used when performing "straight ahead control" in the repair system 800 of the embodiment. [Figure 6] FIG. 6 is a flow diagram showing the operation when "repair" is performed in the repair system 800 of the embodiment. [Figure 7] FIG. 7 is a diagram schematically showing a part of a traveling device 500 in the first modification. [Figure 8A]FIG. 8A is a schematic enlarged view of a portion where a repair mechanism 55 is provided in the second modification. [Figure 8B] FIG. 8B is a diagram schematically showing a nozzle 552 in the second modification. DETAILED DESCRIPTION OF THE INVENTION

[0010] [A] Rotating Electric Machine 20 Before describing the repair system of this embodiment, an example of the rotating electrical machine 20 on which the repair system runs will be described.

[0011] Fig. 1 is a diagram schematically illustrating a water turbine power generation facility 30 including a rotating electric machine 20 in an embodiment. In Fig. 1, the longitudinal direction is the vertical direction z (the direction of gravity), the direction perpendicular to the paper surface is the first horizontal direction x, and the lateral direction is the second horizontal direction y. Fig. 1 shows a longitudinal cross section including a central axis of rotation AX.

[0012] 1, the water turbine power generation facility 30 includes a water turbine 10 and a rotating electric machine 20. The water turbine power generation facility 30 is a vertical shaft type in which the central axis of rotation AX is aligned with the vertical direction z, and is configured so that, during power generation operation, the rotating electric machine 20 is driven by the rotation of the water turbine 10, thereby generating power.

[0013] [A-1] Water wheel 10 The water turbine 10 is, for example, a Francis type, and as shown in Figure 1, has a water turbine rotor shaft 11, a runner 12, an upper cover 13, a lower cover 14, guide vanes 15, and a casing 16, and is mounted on a water turbine floor foundation 1.

[0014] The water turbine 10 is configured such that, during power generation operation, water is supplied from the casing 16 to the runner 12 via the guide vanes 15, causing the runner 12 to rotate together with the water turbine rotor shaft 11.

[0015] [A-1-1] Water turbine rotor shaft 11 Specifically, in the water turbine 10, the water turbine rotor shaft 11 is rotatably supported by a water turbine bearing 19 so that the rotation center axis AX is aligned with the vertical direction z.

[0016] [A-1-2] Runner 12 The runner 12 has a rotation center axis AX aligned along the vertical direction z, and is connected to the lower end of the water turbine rotor shaft 11. The runner 12 is installed between a runner crown and a runner band so that multiple runner blades are aligned in the rotation direction.

[0017] [A-1-3] Top cover 13 The upper cover 13 is provided above the runner 12. The water turbine rotor shaft 11 passes through the center of the upper cover 13, and covers the upper surface of the runner 12 on the side of the outer circumferential surface of the water turbine rotor shaft 11.

[0018] [A-1-4] Lower cover 14 The lower cover 14 is provided below the runner 12. The lower cover 14 covers the lower surface of the runner 12 at the outer periphery of the discharge pipe 1b formed in the turbine floor foundation 1.

[0019] [A-1-5] Guide vane 15 A plurality of guide vanes 15 are arranged between the upper cover 13 and the lower cover 14 so as to surround the outer periphery of the runner 12. The guide vanes 15 are configured to adjust the flow rate of water flowing into the runner 12 by changing the opening degree.

[0020] [A-1-6] Casing 16 The casing 16 has a doughnut shape and is installed so as to surround the periphery of the plurality of guide vanes 15 with a speed ring 161 interposed therebetween.

[0021] [A-2] Rotating electric machine 20 1, the rotating electric machine 20 has a rotating electric machine rotor shaft 21, a rotor 22, and a stator 23, and is mounted on a rotating electric machine floor foundation 2. The rotating electric machine 20 is, for example, an inner rotor type, and is used as a generator that generates electricity by rotating the rotor 22 inside the stator 23 during power generation operation.

[0022] [A-2-1] Rotor shaft 21 of rotating electrical machine Specifically, in the rotating electric machine 20, the rotating electric machine rotor shaft 21 is cylindrical, has a rotation center axis AX aligned with the vertical direction z, and is rotatably supported by rotating electric machine bearings 21a and 21b. The rotating electric machine bearing 21a includes, for example, a thrust bearing and a radial bearing, and rotatably supports a lower portion of the rotating electric machine rotor shaft 21. The rotating electric machine bearing 21b includes, for example, a radial bearing, and rotatably supports an upper portion of the rotating electric machine rotor shaft 21. The lower end of the rotating electric machine rotor shaft 21 is coupled to the upper end of the water turbine rotor shaft 11, and is configured to transmit the rotational torque of the water turbine 10 to the rotating electric machine 20.

[0023] [A-2-2] Rotor 22 The rotor 22 has a cylindrical shape and is fixed to the rotor shaft 21 of the rotary electric machine so as to be coaxial with the rotor shaft 21 of the rotary electric machine.

[0024] Although not shown in the figure, the rotor 22 has rotor coils housed inside rotor slots formed on the outer peripheral surface of the rotor core, and the rotor coils are fixed inside the rotor slots by rotor wedges.

[0025] [A-2-3] Stator 23 The stator 23 has a cylindrical shape, is coaxial with the rotating shaft 201, and is installed so as to surround the rotor 22 with a gap AG (air gap) interposed therebetween. The stator 23 is housed in a frame 24 installed on the upper surface of the rotating electrical machine floor foundation 2, and is fixed to the inner peripheral surface of the frame 24.

[0026] [A-3] Details of stator 23 The detailed configuration of the stator 23 will now be illustrated.

[0027] 2A shows an enlarged partial cross section (a plane (xy plane) perpendicular to the axial direction of the rotation center axis AX) of the stator 23 in the embodiment. FIG. 2B shows the inner circumferential surface of the stator 23 as viewed in the radial direction of the rotation center axis AX in the embodiment.

[0028] As shown in FIG. 2A, the stator 23 includes a stator core 41, a stator coil 42, and a stator wedge 43.

[0029] [A-3-1] Stator core 41 In the stator 23, stator slots KS (coil slots) are formed in the stator core 41. The stator slots KS are grooves recessed in the radial direction of the rotation center axis AX (vertical direction in FIG. 2A), and are formed in a portion of the stator core 41 located on the inner circumferential side IN (upper side in FIG. 2A). Here, the stator slots KS extend in the axial direction of the rotation center axis AX. Although not shown, multiple stator slots KS are arranged side by side at intervals in the rotation direction R of the rotation center axis AX.

[0030] [A-3-2] Stator coil 42 The stator coil 42 is housed in a stator slot KS formed in the stator core 41. Although not shown, the stator coil 42 extends in the axial direction of the rotation center axis AX in the stator slot KS, and an insulator (not shown) is interposed between the stator core 41 and the stator coil 42.

[0031] [A-3-3] Stator wedge 43 The stator wedges 43 are disposed in the stator slots KS on the inner circumferential sides IN of the stator coils 42. The stator wedges 43 are provided to fix the stator coils 42 to the stator slots KS.

[0032] Here, multiple stator wedges 43 are inserted in the axial direction of the rotation center axis AX on the inner circumferential side IN of the stator slot KS. The inner circumferential surfaces of the stator wedges 43 and the inner circumferential surface of the stator core 41 are flush with each other, with no steps. Therefore, on the inner circumferential surface of the stator 23, boundary portions BL1 and BL2 between the stator core 41 and the stator wedges 43 exist as linear portions that extend linearly in the axial direction along the rotation center axis AX (see FIGS. 2A and 2B).

[0033] [B] Repair System 800 A repair system 800 used when repairing the rotating electrical machine 20 (see FIG. 1) will be described.

[0034] FIG. 3 is a block diagram that schematically illustrates a repair system 800 in accordance with an embodiment.

[0035] As shown in FIG. 3, the repair system 800 of this embodiment includes a traveling device 500 and a control device 600, and is configured so that the traveling device 500 and the control device 600 can communicate with each other via a cable 700.

[0036] [B-1] Traveling device 500 The traveling device 500, details of which will be described later, is a self-propelled robot that is configured to travel by being inserted into the gap AG between the rotor 22 and the stator 23 when performing repairs on the rotating electric machine 20 (see Figure 1).

[0037] [B-2] Control device 600 The control device 600 is provided to remotely control the operation of the traveling device 500. The control device 600 includes an arithmetic unit (computer) and a storage device, and is configured so that the arithmetic unit controls the operation of the traveling device 500 using a program stored in the storage device.

[0038] Here, the control device 600 performs control such that the traveling device 500 performs repair of the rotating electric machine 20 in response to an operation command input by an operator using an operation device (not shown) such as a mouse or a keyboard. In addition, the control device 600 performs control such that information related to the repair performed by the traveling device 500 is displayed on a display, for example.

[0039] [C] Details of the running gear 500 The traveling device 500 constituting the above-mentioned repair system 800 (see FIG. 3) will now be described in detail.

[0040] 4A and 4B are diagrams that schematically show the entire traveling device 500 in the repair system 800 of the embodiment.

[0041] 4A and 4B show a state in which the traveling device 500 travels in the gap AG between the rotor 22 and the stator 23 along the vertical direction z.

[0042] 4A shows a cross section of the traveling device 500 in a plane (corresponding to the yz plane) defined by the axial direction (corresponding to the vertical direction z) along the central axis of rotation AX and the rotation direction R (corresponding to the second horizontal direction y). In FIG. 4A, the upper side is the upper side Uw in the vertical direction z, the lower side is the lower side Lw in the vertical direction z, the right side is the forward side Fw in the rotation direction R, and the left side is the rearward side Bw in the rotation direction R.

[0043] Fig. 4B shows a cross section of the traveling device 500 in a plane (corresponding to the xz plane; Y1-Y1 portion in Fig. 4A) defined by the axial direction (corresponding to the vertical direction z) along the central axis of rotation AX and the radial direction of the central axis of rotation AX (corresponding to the first horizontal direction x in Fig. 4B). In Fig. 4B, the upper side is the inner circumferential side IN in the radial direction, the lower side is the outer circumferential side OUT in the radial direction, the right side is the lower side Lw in the vertical direction z, and the left side is the upper side Uw in the vertical direction z.

[0044] As shown in Figures 4A and 4B, the running device 500 includes a running device casing part 501, a moving mechanism 51, an imaging device 52, and a repair mechanism 55, and moves while adsorbed to the stator 23 in the gap AG between the rotor 22 and the stator 23, and performs repairs on the rotating electric machine 20.

[0045] The traveling device 500 travels along the axial direction to perform repairs, with the operation of the moving mechanism 51, the operation of the imaging device 52, and the operation of the repair mechanism 55 controlled in response to control signals transmitted from the control device 600 via the cable 700. In this embodiment, the traveling device 500 repairs a malfunction (loosening, etc.) in the fixation of the stator wedge 43 in the stator slot KS of the stator core 41 by applying repair material RM to the boundary portions BL1, BL2 between the stator core 41 and the stator wedge 43. The repair travel direction TD in which the traveling device 500 travels when performing repairs is along the vertical direction z. For example, the front side TFw of the repair travel direction TD is the upper side Uw of the vertical direction z, and the rear side TBw of the repair travel direction TD is the lower side Lw of the vertical direction z.

[0046] The details of each component of the traveling device 500 will be explained below in order.

[0047] [C-1] Running gear casing part 501 4A and 4B, the traveling device casing 501 has an outer shape that allows it to be inserted into the gap AG between the rotor 22 and the stator 23. The traveling device casing 501 houses the moving mechanism 51, the imaging device 52, and the repair mechanism 55 inside.

[0048] [C-2] Moving mechanism 51 As shown in FIGS. 4A and 4B, the movement mechanism 51 is provided to move the traveling device 500 in the gap AG between the rotor 22 and the stator 23.

[0049] 4A, in this embodiment, two moving mechanisms 51, a moving mechanism 51a and a moving mechanism 51b, are installed in the traveling device casing 501. When the traveling device 500 travels in the vertical direction z, the moving mechanisms 51a and 51b are arranged side by side and spaced apart in the rotational direction R.

[0050] Each of the moving mechanisms 51a and 51b is configured such that a pair of crawlers 510 sandwiches a plurality of permanent magnets 515. In each of the moving mechanisms 51a and 51b, when the traveling device 500 travels along the vertical direction z, the pair of crawlers 510 are arranged at a distance from each other in the rotation direction R, and the plurality of permanent magnets 515 are arranged in the vertical direction z.

[0051] In the moving mechanism 51, the crawler 510 is, as shown in FIG. 4B, a ring in which a plurality of track shoes (not shown) are connected to surround a drive wheel 511, a roller 512, and an idler wheel 513, and the crawler 510 is driven by the rotation of the drive wheel 511 by a motor (not shown).

[0052] In the moving mechanism 51, the permanent magnet 515 is provided to attract the traveling device 500 to the stator 23 by magnetic force, as can be seen from FIG. 4B.

[0053] [C-3] Imaging equipment 52 The imaging device 52 is provided to obtain imaging data by capturing an image in the gap AG between the rotor 22 and the stator 23. The imaging device 52 is configured to capture an image of the inner peripheral surface of the stator 23 with the traveling device 500 inserted into the gap AG.

[0054] FIG. 4C is a schematic enlarged view of a portion of the traveling device 500 according to the embodiment where the imaging device 52 is provided.

[0055] 4C shows a cross section of a plane (corresponding to the xy plane; Z1-Z1 portion in FIG. 4A) perpendicular to the central axis of rotation AX. In FIG. 4C, the upper side is the radially inner side IN, the lower side is the radially outer side OUT, the right side is the forward side Fw in the direction of rotation R, and the left side is the backward side Bw in the direction of rotation R.

[0056] The imaging device 52 is a camera including an objective lens 5221 and an imaging element 5222, and is installed in the traveling device casing 501 so as to obtain imaging data by an object image being incident on the imaging element 5222 via the objective lens 5221, as shown in Fig. 4C. In this embodiment, when the traveling device 500 travels in the gap AG along the vertical direction z, the imaging device 52 is in a state in which the optical axis of the objective lens 5221 is aligned along the radial direction.

[0057] Although details will be described later, in this embodiment, the imaging device 52 obtains imaging data by imaging a boundary portion BL1 between the stator core 41 and the stator wedge 43.

[0058] [C-4] Repair Organization 55 4A and 4B, the repair mechanism 55 is installed in the traveling device casing 501 to repair a portion of the rotating electric machine 20 that needs repair in the gap AG between the rotor 22 and the stator 23. In this embodiment, the portion to be repaired is the boundary portions BL1 and BL2 between the stator core 41 and the stator wedge 43.

[0059] 4A, in this embodiment, two repair mechanisms 55, a repair mechanism 55a and a repair mechanism 55b, are installed in the traveling device casing 501. When the traveling device 500 travels in the vertical direction z, the repair mechanism 55a and the repair mechanism 55b are arranged side by side and spaced apart in the rotational direction R.

[0060] As shown in Fig. 4A, each of the repair mechanisms 55a and 55b includes a storage unit 551, a nozzle 552, a scraper 553, a solidification device 554, and a skid 555. The components constituting the repair mechanism 55a and the components constituting the repair mechanism 55b are arranged symmetrically with respect to the central axis of rotation AX when the traveling device 500 travels in the vertical direction z. In the traveling device 500, the repair mechanism 55a is configured to apply the repair material RM to the boundary portion BL1, and the repair mechanism 55b is configured to apply the repair material RM to the boundary portion BL2.

[0061] FIG. 4D is a schematic enlarged view of a portion of the traveling device 500 according to the embodiment where the repair mechanism 55 is provided.

[0062] Figure 4D shows a cross section of the traveling device 500 in a plane (corresponding to the xz plane; Y2-Y2 part in Figure 4A) defined by the axial direction (corresponding to the vertical direction z) along the rotation center axis AX and the radial direction (corresponding to the first horizontal direction x) of the rotation center axis AX.

[0063] Hereinafter, each part constituting the repair mechanism 55 will be described with reference to FIG. 4A as well as FIG. 4D.

[0064] [C-4-1] Storage Unit 551 In the repair mechanism 55, the storage section 551 is configured to store the repair material RM.

[0065] The storage unit 551 is configured to supply the repair material RM to the nozzle 552 by, for example, receiving air from an external air pump P55. The storage unit 551 includes, for example, a syringe unit that stores the repair material RM therein and a plunger unit housed inside the syringe unit, and the plunger unit moves inside the syringe unit by receiving air from the air pump P55. As a result, in the storage unit 551, the repair material RM is discharged from a syringe discharge port provided in the syringe unit.

[0066] The repair material RM is, for example, an ultraviolet curable resin, and is stored in a liquid state in the storage unit 551. The storage unit 551 is preferably detachable from the traveling device 500. The repair material RM may be supplied to the nozzle 552 by a piston being pushed into the storage unit 551 by an external force (such as a motor or a solenoid).

[0067] [C-4-2] Nozzle 552 In the repair mechanism 55, the nozzle 552 is configured to discharge the repair material RM from the nozzle discharge port S552 onto the application surface including the boundary portions BL1 and BL2 between the stator core 41 and the stator wedge 43 as the repair target areas.

[0068] In this embodiment, the nozzle 552 is supported by a skid 555. The nozzle 552 may be formed integrally with the skid 555.

[0069] [C-4-3] Scraper 553 In the repair mechanism 55, the scraper 553 is provided to make the thickness of the repair material RM discharged onto the application surface including the boundary portions BL1 and BL2 uniform.

[0070] In this embodiment, the scraper 553 is fixed inside the traveling device casing 501 so that a gap is provided between the tip of the scraper 553 and the inner peripheral surface of the stator 23. Note that the scraper 553 may have a structure using a spring and skid, similar to the nozzle 552, in order to keep the gap constant.

[0071] [C-4-4] Solidification device 554 In the repair mechanism 55, the solidification device 554 is provided to solidify the repair material RM that has been discharged in a liquid state onto the application surface including the boundary portions BL1 and BL2.

[0072] In this embodiment, the solidification device 554 includes, for example, an ultraviolet irradiation lamp, and irradiates ultraviolet rays from the ultraviolet irradiation lamp onto the repair material RM, which is an ultraviolet curable resin, thereby curing the repair material RM, which is an ultraviolet curable resin, and changing from a liquid state to a solid state.

[0073] [C-4-5] Skid 555 In the repair mechanism 55, the skid 555 includes a first skid surface SK1 and a second skid surface SK2. In the skid 555, the first skid surface SK1 is the surface that faces the application surface (the inner peripheral surface of the stator 23) where the repair material RM is applied in the gap AG. The second skid surface SK2 is the surface located opposite the first skid surface SK1 and faces the inner surface of the traveling device casing 501.

[0074] A biasing member 5551 is interposed between the second skid surface SK2 and the inner surface of the traveling device casing part 501. The biasing member 5551 is, for example, a spring, and biases the skid 555 so as to press the first skid surface SK1 against the application surface to which the repair material RM is applied.

[0075] Furthermore, a fulcrum AF is provided on the inner surface of the traveling device casing 501 at a portion facing the second skid surface SK2. The skid 555 is supported by the fulcrum AF at a portion of the second skid surface SK2 located on the forward side TFw in the repair travel direction TD (to the left of the second skid surface SK2 in FIG. 4D ). In other words, the fulcrum AF allows the skid 555 to rotate relative to the application surface to which the repair material RM is applied. This structure makes it possible to maintain a constant distance between the tip of the nozzle 552 and the stator 23. Even if the surface of the stator 23 is uneven, such as due to a paint or wedge joint, the tip of the nozzle 552 does not come into contact with the stator 23 and does not move significantly away from the stator 23, allowing the repair material RM to be applied with a consistent thickness. The skid 555 may be configured not only to rotate about the fulcrum AF, but also to move in the vertical direction (the direction in which the biasing member 5551 expands and contracts) by a guide (slider), for example.

[0076] A skid flow path FSK is formed in the skid 555. One end of the skid flow path FSK is connected to a tube 556, and the other end is connected to a nozzle 552. The tube 556 is flexible and is provided to supply repair material RM from the storage unit 551 to the skid flow path FSK. In this case, the tube 556 is connected to a side of the skid 555 that is located on the forward side TFw of the operating fulcrum AF in the traveling direction TD during repair. This prevents the rigidity of the tube 556 from interfering with the rotation of the skid 555. Note that when the skid 555 moves linearly, the tube 556 is attached in an appropriate position that does not interfere with the linear movement of the skid 555, taking into consideration the position of the guide, the structure, and the rigidity of the tube 556.

[0077] [D] Operation of repair system 800 The operation of repair system 800 (see FIG. 3) when repairing rotating electrical machine 20 (see FIG. 1) will be described.

[0078] In this embodiment, as described above, a problem (loosening, etc.) has occurred in the fixing state of the stator wedge 43 in the stator slot KS of the stator core 41, and repair is performed by applying repair material RM to the boundary portions BL1 and BL2 between the stator core 41 and the stator wedge 43.

[0079] When the above-described repair is performed on the rotating electric machine 20, the traveling device 500 is inserted into the gap AG between the rotor 22 and the stator 23, as shown in Figures 4A to 4D. The traveling device 500 inserted into the gap AG travels in the vertical direction z using the crawler 510 while being attracted to the stator 23 by the magnetic force of the permanent magnet 515. Here, the permanent magnet 515 and the stator 23 are not in close contact with each other but are separated from each other, whereas the crawler 510 and the stator 23 are in close contact with each other, and the traveling device 500 travels.

[0080] When repairing the rotating electric machine 20, the movement operation of the traveling device 500 is controlled by the control device 600 (see FIG. 3). Here, the control device 600 controls the operation of the crawler 510 constituting the movement mechanism 51 in the traveling device 500 based on repair target position information and traveling device position information. The repair target position information is information related to the position of the part to be repaired in the rotating electric machine 20, and is information input in advance to the control device 600. The traveling device position information is information related to the position of the traveling device 500 in the rotating electric machine 20, and is, for example, information related to the movement distance of the traveling device 500 converted from the rotation speed of the crawler 510 when the traveling device 500 moves.

[0081] In this embodiment, when the traveling device 500 is caused to travel for "repair" in the gap AG between the rotor 22 and the stator 23, the control device 600 performs "straight-line control" so that the traveling device 500 travels along the axial direction without meandering in the axial direction. The "straight-line control" is executed using imaging data acquired by imaging by the imaging device 52.

[0082] The specific control contents when "straight ahead control" is performed and the specific control contents when "repair" is performed will be explained below in order.

[0083] [D-1] Straight-line control Fig. 5A is a flow diagram showing the operation when "straight running control" is performed in the repair system 800 of the embodiment. Fig. 5B is a diagram showing an example of imaging data used when "straight running control" is performed in the repair system 800 of the embodiment.

[0084] [D-1-1] Acquisition of imaging data (ST10) As shown in FIG. 5A, when "straight ahead control" is performed, first, imaging data is acquired (ST10).

[0085] Here, when the traveling device 500 is traveling in the gap AG, the imaging device 52 captures an image to obtain imaging data, which is then output to the control device 600. As described above, the imaging device 52 is controlled by the control device 600 to capture an image of a portion of the inner circumferential surface of the stator 23, including the boundary portion BL1 between the stator core 41 and the stator wedge 43, and obtain imaging data.

[0086] [D-1-2] Image Processing (ST20) Next, as shown in FIG. 5A, image processing is performed (ST20).

[0087] Here, the control device 600 performs image processing on the imaging data G1.

[0088] 5B, a target position SL1 of the boundary portion BL1 is determined in the image data G1. The target position SL1 is set so as to be aligned with the straight direction of the traveling device 500 in the image data G1.

[0089] 5B, in the image data G1, feature points relating to the boundary portion BL1 are detected by image processing, thereby determining the position of the boundary portion BL1 in the image data G1.

[0090] Then, the state in which the boundary portion BL1 actually detected in the imaging data G1 is separated from the target position SL1 is grasped. Here, an angle A1 at which the linear boundary portion BL1 actually detected in the imaging data G1 is inclined relative to the linear target position SL1 is calculated. Also, a distance S1 by which the linear boundary portion BL1 actually detected in the imaging data G1 is separated from the linear target position SL1 is calculated.

[0091] [D-1-3] Calculation of movement control signal (ST30) Next, as shown in FIG. 5A, calculation of a movement control signal is executed (ST30).

[0092] Here, the control device 600 determines a movement control signal for controlling the operation of the movement mechanism 51 based on the results (angle A1, distance S1) determined by the image processing described above.

[0093] Control device 600 determines a movement control signal for adjusting the operation of crawler 510 constituting moving mechanism 51a and the operation of crawler 510 constituting moving mechanism 51b so that angle A1 and distance S1 become zero through control. For example, the movement control signal is determined using a lookup table or the like that associates the results (angle A1, distance S1) determined by image processing with the operating conditions of crawler 510 constituting moving mechanism 51a and the operating conditions of crawler 510 constituting moving mechanism 51b.

[0094] The movement control signal is calculated so that the boundary portion BL1 detected in the image data G1 coincides with the target position SL1 after driving the crawler 510 constituting the movement mechanism 51a and the crawler 510 constituting the movement mechanism 51b.

[0095] Specifically, the movement control signal is determined under rotation speed conditions where the difference between the rotation speed of crawler 510 constituting moving mechanism 51a and the rotation speed of crawler 510 constituting moving mechanism 51b increases as the absolute value of angle A1 determined by the image processing increases. Also, the movement control signal is determined so that the drive time for driving crawler 510 constituting moving mechanism 51a and crawler 510 constituting moving mechanism 51b under the above rotation speed conditions increases as the absolute value of distance S1 determined by the image processing increases.

[0096] [D-1-4] Output of movement control signal (ST40) Next, as shown in FIG. 5A, a movement control signal is output (ST40).

[0097] Here, the control device 600 outputs a movement control signal to the traveling device 500. As a result, in the traveling device 500, the crawlers 510 constituting the moving mechanism 51a and the crawlers 510 constituting the moving mechanism 51b are driven based on the movement control signal. As a result, the boundary portion BL1 detected in the imaging data G1 coincides with the target position SL1.

[0098] The "linear control" consisting of the above steps is repeatedly performed when the traveling device 500 travels along the axial direction to perform repairs. After performing repairs on the stator wedge 43 installed in one stator slot KS, the traveling device 500 moves in the rotational direction R to perform repairs on the stator wedge 43 installed in another stator slot KS, and the "linear control" is performed in the same manner as above.

[0099] [D-2] Repair FIG. 6 is a flow diagram showing the operation when "repair" is performed in the repair system 800 of the embodiment.

[0100] The operation when performing "repair" will be described using FIG. 6 as well as FIG. 4A and FIG. 4D.

[0101] [D-2-1] Dispense repair material RM onto the application surface When "repairing" is performed, first, as shown in FIG. 6, the repair material RM is discharged onto the application surface (ST110).

[0102] 4A and 4D, the control device 600 drives the air pump P55, whereby the repair material RM stored in the storage unit 551 is supplied to the skid flow path FSK of the skid 555 via the tube 556. Thereafter, the repair material RM supplied to the skid flow path FSK of the skid 555 is discharged from the nozzle discharge port S552 of the nozzle 552 onto the surface to be treated.

[0103] In this embodiment, the repair material RM is, for example, an ultraviolet curable resin, and is discharged in a liquid state from the nozzle outlet S552. The application surface includes boundary portions BL1 and BL2 between the stator core 41 and the stator wedge 43 as repair target areas.

[0104] When the repair material RM is discharged onto the application surface, the traveling device 500 travels along the axial direction by "linear control" as described above. Therefore, the boundary portions BL1 and BL2 extending in the axial direction are continuously covered in the axial direction with the repair material RM discharged from the nozzle discharge port S552.

[0105] It is preferable that the control device 600 controls the operation of the air pump P55 so as to adjust (increase or decrease) the amount of repair material RM discharged per unit time from the nozzle outlet S552 of the nozzle 552 according to the speed at which the traveling device 500 travels.

[0106] [D-2-2] Uniform thickness of repair material RM Next, as shown in FIG. 6, the thickness of the repair material RM is made uniform (ST120).

[0107] 4A and 4D, as the traveling device 500 travels, the repair material RM discharged onto the application surface passes through the gap between the scraper 553 and the application surface. As a result, the surface of the repair material RM discharged onto the application surface from the nozzle discharge port S552 is scraped by the scraper 553, making the thickness of the repair material RM uniform.

[0108] [D-2-3] Solidification of repair material RM Next, as shown in FIG. 6, the repair material RM is solidified (ST130).

[0109] Here, as shown in FIGS. 4A and 4D, the control device 600 drives the solidification device 554 to solidify the repair material RM that has been discharged in a liquid state onto the application surface.

[0110] In this embodiment, the repair material RM is, for example, an ultraviolet curable resin, and the solidification device 554 includes, for example, an ultraviolet irradiation lamp. In this case, the repair material RM, which is an ultraviolet curable resin, is solidified by irradiating ultraviolet rays from the ultraviolet irradiation lamp constituting the solidification device 554 onto the repair material RM.

[0111] In this way, the boundary portions BL1, BL2 between the stator core 41 and the stator wedge 43 are covered with the solidified repair material RM, so that any defects (looseness, etc.) that occur in the fixed state in which the stator wedge 43 is fixed in the stator slot KS of the stator core 41 are repaired.

[0112] [E] Summary As described above, the repair system 800 of this embodiment includes the traveling device 500 and the control device 600, and the traveling device 500 includes the moving mechanism 51, the imaging device 52, and the repair mechanism 55. In the traveling device 500, the moving mechanism 51 is configured to move the traveling device 500 in the gap AG that is interposed between the rotor 22 and the stator 23 of the rotating electric machine 20. The imaging device 52 is configured to obtain imaging data by imaging the boundary portion BL1 between the stator core 41 and the stator wedge 43 while the traveling device 500 is traveling in the gap AG. The repair mechanism 55 is configured to repair the boundary portions BL1 and BL2 between the stator core 41 and the stator wedge 43 in the gap AG.

[0113] In this embodiment, when repairing the boundaries BL1 and BL2, the control device 600 controls the operation of the movement mechanism 51 so that the position of the boundary BL1 in the imaging data coincides with the target position SL1 defined for the boundary BL1 in the imaging data, thereby causing the traveling device 500 to travel along the extension direction of the boundaries BL1 and BL2 (see FIG. 5B). Then, while causing the traveling device 500 to travel along the extension direction of the boundaries BL1 and BL2, the control device 600 controls the operation of the repair mechanism 55 so that the repair material RM is applied to the boundaries BL1 and BL2 by discharging it from the nozzle discharge port S552 of the nozzle 552 (see FIGS. 4A and 4D).

[0114] Therefore, according to the repair system 800 of this embodiment, it is possible to easily realize efficient repair using the traveling device 500.

[0115] In this embodiment, the repair mechanism 55 has a scraper 553. Therefore, in this embodiment, the thickness of the repair material RM discharged from the nozzle discharge port S552 of the nozzle 552 onto the boundary portions BL1 and BL2 can be made uniform using the scraper 553 (see FIG. 4D). Furthermore, in this embodiment, the repair mechanism 55 includes a solidification device 554. Therefore, in this embodiment, the repair material RM discharged in a liquid state from the nozzle discharge port S552 of the nozzle 552 onto the boundary portions BL1 and BL2 can be solidified using the solidification device 554 (see FIG. 4D). As a result, in this embodiment, it is possible to easily achieve more efficient repair.

[0116] In this embodiment, the repair mechanism 55 includes a skid 555 and a biasing member 5551, and the nozzle 552 is supported on the skid 555. The skid 555 has a first skid surface SK1 that faces the surface to which the repair material RM is applied in the gap AG, and a second skid surface SK2 that is located on the opposite side of the first skid surface SK1. The biasing member 5551 is provided on the second skid surface SK2 and biases the skid 555 so as to press the first skid surface SK1 against the surface to be repaired. The skid 555 is also supported by a motion fulcrum AF so as to be rotatable relative to the surface to which the repair material RM is applied. Therefore, in this embodiment, even if the surface to be repaired is not completely flat and has unevenness (such as "waviness"), when the traveling device 500 travels, the skid 555 rotates around the motion fulcrum AF to follow the unevenness of the surface to be repaired (see FIG. 4D). As a result, the repair material RM is discharged while maintaining a constant distance between the nozzle discharge port S552 of the nozzle 552 supported by the skid 555 and the surface to which the repair material RM is to be applied. As a result, in this embodiment, the repair material RM can be accurately discharged onto the boundary portions BL1 and BL2 of the surface to be applied.

[0117] In this embodiment, the repair mechanism 55 includes a flexible tube 556 for supplying the repair material RM from the storage unit 551 to the skid flow path FSK of the skid 555. The skid 555 is supported by an operating fulcrum AF provided on the side of the second skid surface SK2 so as to be rotatable relative to the application surface. The operating fulcrum AF supports the skid 555 at a portion of the second skid surface SK2 located on the forward side TFw in the repair travel direction TD (in FIG. 4D , this is on the left side of the second skid surface SK2). The tube 556 is connected to the skid 555 so as to be located on the forward side TFw in the repair travel direction TD of the operating fulcrum AF. When the skid 555 rotates about the operating fulcrum AF as the traveling device 500 travels, the displacement of the portion of the skid 555 located on the forward side TFw in the repair travel direction TD is smaller than the displacement of the portion of the skid 555 located on the rear side TBw in the repair travel direction TD. For this reason, in this embodiment, the tube 556 does not hinder the rotation of the skid 555. Furthermore, in this embodiment, even when the skid 555 rotates around the motion fulcrum AF, the movement of the tube 556 is small, so it is possible to prevent the tube 556 from falling off or being damaged. Note that if the tube 556 is flexible enough not to hinder the rotation of the skid 555, this configuration does not need to be adopted. Similarly, for example, if the skid 555 is a parallel movement type that moves in the vertical direction, this configuration does not need to be adopted.

[0118] [F] Variation In the above embodiment, the traveling device 500 travels in the gap AG of the vertical-shaft rotating electric machine 20 whose central axis of rotation AX is aligned with the vertical direction z, but the present invention is not limited to this. The traveling device 500 may travel in the gap AG of the rotating electric machine 20 whose central axis of rotation AX is aligned with the horizontal direction x, for example, instead of the vertical direction z.

[0119] In the above embodiment, a case has been described in which the cable 700 is interposed between the traveling device 500 and the control device 600, and communication between the two is possible via wired communication, but this is not limited to this. The traveling device 500 and the control device 600 may be configured to be able to communicate via wireless communication. Furthermore, in the above embodiment, an example has been given in which the control device 600 is installed outside the traveling device 500, but the control device 600 may be housed inside the traveling device 500.

[0120] In the traveling device 500 of the above embodiment, the movement mechanism 51 is configured to move the traveling device 500 using the crawlers 510, but this is not limiting. The movement mechanism 51 may be configured to move the traveling device 500 without using the crawlers 510. For example, the traveling device 500 may be configured so that the wheels come into direct contact with the rotating electric machine 20 during traveling, and the traveling direction of the traveling device 500 is changed using a steering mechanism that steers the wheels. Alternatively, the traveling device 500 may be suspended by a wire or the like, and the wire may be wound up or unwound in the vertical direction to move the traveling device 500.

[0121] Although the traveling device 500 of the above embodiment has been described as having a single image capturing device 52, the present invention is not limited to this. If necessary, a plurality of image capturing devices 52 may be provided.

[0122] The traveling device 500 of the above embodiment may be provided with equipment for inspecting the rotating electric machine 20. For example, a hammer and a microphone may be provided in the traveling device 500 to inspect the fixed state (looseness, etc.) of the stator wedge 43. In this case, the fixed state (looseness, etc.) of the stator wedge 43 is inspected by striking the stator wedge 43 with the hammer, detecting the sound produced by the striking with the microphone, and analyzing the acoustic data.

[0123] In the traveling device 500 of the above embodiment, the storage unit 551 of the repair mechanism 55 is housed in the traveling device casing 501, but this is not limiting. The storage unit 551 may be provided outside the traveling device casing 501.

[0124] In the traveling device 500 of the above embodiment, the repair mechanism 55 has the scraper 553, but the present invention is not limited to this.

[0125] In the traveling device 500 of the above embodiment, the repair mechanism 55 has been described as having the solidification device 554, but this is not limiting. If the repair material RM is a naturally hardening resin or the like, the repair mechanism 55 does not need to be provided with the solidification device 554. If the repair material RM is a thermosetting resin rather than an ultraviolet curable resin, it is preferable to provide a heater as the solidification device 554. Alternatively, a drying device including a fan or the like may be provided as the solidification device 554 in order to volatilize the solvent in the repair material RM.

[0126] In the traveling device 500 of the above embodiment, the repair mechanism 55 has been described as having the skid 555 rotatably supported by the operating fulcrum AF, but this is not limitative. Also, depending on the required repair quality, the repair mechanism 55 does not necessarily have to be provided with the skid 555.

[0127] [F-1] Variation 1 FIG. 7 is a diagram schematically showing a part of a traveling device 500 in the first modification.

[0128] As shown in Figure 7, in this modified example, unlike the above embodiment (see Figure 4A), the air pump P55 may be configured to supply air to the storage section 551 (first storage section) of the repair mechanism 55a (first repair mechanism) and also to supply air to the storage section 551 (second storage section) of the repair mechanism 55b (second repair mechanism).

[0129] [F-2] Variation 1 8A is a schematic enlarged view of a portion where repair mechanism 55 is provided in Modification 2. FIG. 8B is a schematic view of nozzle 552 in Modification 2.

[0130] Figure 8A shows the same part as Figure 4D. Figure 8B shows the state of nozzle 552 when the line of sight is in the traveling direction TD during repair.

[0131] 8A and 8B, in this modification, the shape of the nozzle 552 is different from that in the above embodiment. The nozzle 552 of this modification includes a first nozzle portion 5521 and a second nozzle portion 5522.

[0132] In nozzle 552, first nozzle portion 5521 has an internal flow path aligned along the radial direction of rotation center axis AX. One end of first nozzle portion 5521 located on the inner circumferential side IN in the radial direction is connected to skid 555, and the other end located on the outer circumferential side OUT in the radial direction is connected to second nozzle portion 5522 (see FIG. 8A).

[0133] In the nozzle 552, the second nozzle portion 5522 has an internal flow path that is not parallel to the radial direction of the rotation center axis AX. The internal flow path of the second nozzle portion 5522 is inclined relative to the radial direction so that one end located on the inner periphery side IN in the radial direction and the other end located on the outer periphery side OUT in the radial direction are positioned on the rear side TBw in the traveling direction TD during repair (see FIG. 8A).

[0134] As shown in FIG. 8B, in this modification, the nozzle outlet S552 of the nozzle 552 has a rectangular shape with the major axis extending in the circumferential direction (the y direction in FIG. 8B).

[0135] In this modification, the thickness of the repair material RM discharged from the nozzle discharge port S552 becomes uniform. Therefore, in this modification, the installation of the scraper 553 can be omitted, and the device can be simplified.

[0136] <Other> Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, as well as the inventions described in the claims and their equivalents. [Explanation of symbols]

[0137] 1: water turbine floor foundation, 1b: discharge pipe, 2: rotating electric motor floor foundation, 10: water turbine, 11: water turbine rotor shaft, 12: runner, 13: upper cover, 14: lower cover, 15: guide vane, 16: casing, 19: water turbine bearing, 20: rotating electric motor, 21: rotating electric motor rotor shaft, 21a: rotating electric motor bearing, 21b: rotating electric motor bearing, 22: rotor, 23: stator, 24: frame, 41: stator core, 42: stator coil, 43: stator wedge, 51: moving mechanism, 51a: moving mechanism, 51b: moving mechanism, 52: imaging equipment, 55: repair mechanism, 55a: repair mechanism, 55b: repair mechanism, 161: speed ring, 201: rotating shaft 500: Traveling device, 501: Traveling device casing, 510: Crawler, 511: Drive wheel, 512: Roller, 513: Idler wheel, 515: Permanent magnet, 551: Storage unit, 552: Nozzle, 553: Scraper, 554: Solidification device, 555: Skid, 556: Tube, 600: Control device, 700: Cable, 800: Repair system, 5221: Objective lens, 5222: Image pickup element, 5521: First nozzle unit, 5522: Second nozzle unit, 5551: Pressurizing member, FSK: Skid flow path, AG: Gap, P55: Air pump, RM: Repair material, S552: Nozzle outlet, SK1: First skid surface, SK2: Second skid surface

Claims

1. a traveling device that travels while being inserted into a gap between a rotor and a stator in a rotating electric machine; a control device that controls the operation of the traveling device; A repair system comprising: The traveling device is a movement mechanism that moves the traveling device in the gap; a repair mechanism that repairs a portion of the rotating electrical machine that is to be repaired in the gap; and and The repair mechanism includes: a nozzle for discharging a repair material for repairing the area to be repaired from a nozzle outlet; Including, When repairing the area to be repaired, the control device controls the operation of the movement mechanism and the operation of the repair mechanism so that the repair material is applied to the area to be repaired by discharging the repair material from the nozzle discharge port of the nozzle while moving the traveling device. Repair system.

2. The repair mechanism includes: a scraper for uniformizing the thickness of the repair material discharged from the nozzle discharge port of the nozzle to the area to be repaired; having The repair system of claim 1 .

3. The repair mechanism includes: a solidification device for solidifying the repair material discharged in a liquid state from the nozzle onto the area to be repaired; Including, The repair system of claim 1 .

4. The repair mechanism includes: a storage section for storing the repair material; a skid including a first skid surface facing the application surface to which the repair material is applied in the gap, and a second skid surface located on the opposite side of the first skid surface; a biasing member provided on the second skid surface for biasing the skid so as to press the first skid surface against the application surface; Including, the nozzle is supported on the skid; The skid is provided with a skid flow path through which the repair material flows from the storage portion to the nozzle. The repair system of claim 1 .

5. The repair mechanism includes: a flexible tube for delivering the repair material from the reservoir to the skid flow path; Including, the skid is supported by a fulcrum provided on the second skid surface so as to be rotatable relative to the application surface; the operating fulcrum portion supports the skid at a portion located forward in a repair traveling direction in which the traveling device moves when performing repairs, The tube is connected to the skid so as to be located forward of the operating fulcrum portion in the direction of travel during repair. The repair system of claim 4 .

6. the storage unit is configured to supply the repair material to the nozzle by receiving air from an air pump, The repair mechanism includes at least a first repair mechanism and a second repair mechanism, The air pump is configured to supply air to a first storage section provided as the storage section in the first repair mechanism, and to supply air to a second storage section provided as the storage section in the second repair mechanism. The repair system of claim 4 .

7. the storage unit is configured to supply the repair material to the nozzle by receiving air from an air pump, the control device controls the operation of the air pump so as to increase the discharge amount of the repair material discharged per unit time from the nozzle discharge port of the nozzle in accordance with the traveling speed of the traveling device. The repair system of claim 4 .

Images